If you are looking for something that is going to run 2 up with luggage, on the freeway at/near the speed limit....that changes things.
You are now getting away from all of the small light bikes, and IMO, all the single cylinders. Even my 650GS, with it's 52 some odd hp, wasn't up to the task of pulling more than me and my junk down the freeway at 80mph. Even then, if it was hot out (AZ summer), it would tend to heat up, forcing me to slow down to sub-70mph speeds (and on I-10 between phoenix and tucson...that isn't a good thing).
Seriously, if I wanted to ride 2 up with gear, I would be looking at bikes like the R1200GS, DL1000 v-strom, etc. Just be aware that these big bikes are wallowing pigs in the dirt.
And yes, the sport bikes that have the really low bars are a pain to ride. You really don't want to support your upper body with your wrists, you use your abs and lower back for that. And yes, they will wear you out pretty quick. That is why you don't see a whole lot of them on long (multi-day) trips (yes, there are notable exceptions). Of course, you can put a different set of bars on them and that will help bring you back to an upright riding position (but the pegs are still in a bad spot, IMO).
All of the touring bikes will have an upright riding position....
So you really just need to figure out what you want to do...then go find 3 different bikes to fit those needs (because it WILL take 3 bikes to do it...).