I'm 5'-9" and 200#
Living in Denver and hope to use the bike for equal parts forest-road exploring and commuting. I will probably not be toting any passengers around but might end-up loading the bike up for 3-4 trips to the mountains. I'd also like the idea of being able to put the bike on a hitch-mounted carrier and being able to take it places with my 4-Runner.
That does help. Your size shouldn't really limit you on may of the bikes you're considering. At 5'9", you should be able to get at least the balls of your feet solidly on the ground with all those bikes. Bike I would recommend at least sitting on several to see how they feel to you.
Couple things to consider with the bikes you listed:
Fuel Injection (BMW, Strom) versus carbs (KLR, DR650); and
Singles versus Twin Cylinders;
Weight
Some people love carbs - I'm not one of them. And if I lived near the Rockies, my opinion would be that much stronger. Carbs don't like elevation changes. You can set it so it runs well at say 5000 feet, but then run up to 10,000 and it runs like garbage. EFI deals much better with this. But the Rockies are full of carbed bikes, so it shouldn't be a deal breaker.
Generally speaking, a big (650) single cylinder bike will have more vibrations and more torque than a similar twin. Twins generally are smoother and have more top end HP. This, among other reasons, is why there are a lot of single cylinder dual sport bikes and highway bikes are generally twins or bigger. That being said, none of the singles in this thread are known for being excessively prone to vibration.
Weight - If I'm not mistaken, most hitch carriers have a max load of 500 lbs (many being even lower). Moreover, depending what year 4Runner you have, I'm not sure how much weight you want cantilevered 2 feet of your hitch. A Strom or Versys would be pushing that. Even the F650 and KLR can be well over 400 pounds when loaded up.
As said before, all the bikes you listed are good bikes and will handle what you want them to do (aside from the hitch) just fine. Buy the one that jumps out to you.
I will say this about my feelings (and I'm 5'8", 175, and only been riding about 2 years) . . .
I wouldn't get a KLR (2008 +). It is a fine bike, but for somebody my size and ability it is way too big to do anything aggressive on. I would just assume get a Versys/Strom because they would be even better on the highway, fuel injected, and just as capable on dirt roads. I wouldn't take them on tight trails, but I wouldn't take a new KLR either. Earlier KLRs are lighter and can be had dirt cheap. Given your size, I think a DR650 would be a better fit.
Much of the above can be said for the F650 as well. But they have a lower seat height, feel smaller IMHO, and are fuel injected. They also cost quite a bit more.