The bike you choose is going to depend a bit on how aggressive "off-road" you want to do.
If you're looking at riding gravel country roads and well maintained fire service roads on the like, then any of these bikes will do for that purpose.
However, if you're looking to get muddy, go through deep water, go hillclimbing, or over rocky terrain, then the big heavy bikes, for a first time ADV bike, may not be the best answer. On the Trans Am Trail trip I did last year, I came across guys on Triumph Tigers and they avoided the high passes (jeep trails) because the bikes were just too heavy.
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While I've never ridden it, given your list of requirements I'd be looking at the Africa Twin pretty closely.
The KLR would be a better choice for mud but less so for long highway miles or two up or commuting. Unfortunately, I just don't like them. Too much plastic for my taste and the ones I tried just buzzed quite a bit. I went with a Suzuki DR650SE for the trip. I'd recommend it but it's not good for highway.
The Tenere is a really good bike and I know a bunch of guys who ride them, but it's really big and heavy and, especially early on, you're likely drop drop the bike in sand and gravel.
I've never ridden a V-Strom but I just can't get past that exhaust pipe running straight under the bike. You will occasionally hit the bottom of the bike that pipe just looks like a bad idea to me.
No matter what bike you get get a bottom bash plate for it.
KTM's are great bikes but as a first machine you're use in dirt I'd be thinking those inevitable offs will be quite expensive.