I admit I haven't read/watched the reviews you posted above, but thought I'd chime in with my limited experience in this area.
I'm about 5,000 miles into my 2021 Tenere 700 and have done a few hundred miles off the pavement. It has everything I want and nothing I don't, meaning it has ABS, which can be completely turned off for off-road use, and does not have all the electronic add-ons that the KTMs and BMWs have, such as traction control or cornering ABS. It's built more for off-road use than a lot of so-called adventure bikes and I have so far been very impressed with how it handles rough stuff. Great fully adjustable suspension, proper off-road rims, and what has been referred to as the most reliable engine on two wheels with I think a 25,000 mile valve adjustment interval. I added crash bars in anticipation of dropping it, which I haven't done yet. The price is right and factory luggage is good, too.
Except for the initial break-in oil change, I don't expect to take it to the Yamaha dealership for anything.
For what it's worth, being stuck in British Columbia during the pandemic, my trips on the Tenere have been to Bella Coola, BC and a week in the Yukon, plus some local rides on logging roads.
Picking a new bike is a personal choice and you should go with what you like. The last new bike I bought before the Tenere was my 2000 Ducati Monster, which I finally broke down and bought because I had a "shitty brakes" moment. That's a pretty good reason to upgrade, if you ask me.