There are several on this site that own KLR's. As previously mentioned KLR650.NET will be able to provide the same sort of information about the KLR you find here on the ST's.
My KLR650 is an '08 and so far no real issues. There was also a recall for the turn signals falling off, Kawasaki will replace all of them. It seems the rubber used on may of the parts rot or fall apart. Even with these problems I think the '08 and newer are worth it.
Larger diameter front forks, reworked with slightly less travel than earlier models but also less spongy, dual piston disc brakes instead of single piston, higher output stator, better headlights (2 instead of 1, 55 watts each), larger diameter spokes, better seat foam, more wind protection from faring, larger rear sub-frame top bolts (10mm instead of 8mm, I think that's right).
It's light compared to the ST's but it is heavy for a dirt bike. You mentioned tall seat with your 34" inseam, I only have 30" inseam. Crash-bars are a must or you're looking as replacing plastic or even the radiator which is behind the left plastic. You can setup the bike for however you want to use it. It has the largest gas tank out there for dual sports with nearly the same range as the ST. You can set it up with hard or soft luggage, gear it up or down, run street or more off-road tires. You will drop it and it will get scratched. It will take you places that the ST either couldn't or shouldn't go.
I enjoy mine.