It doesn't ride as tall as it specs. I didn't think I could ride it until I sat on one... then no problem. 5'9" here. Can flat foot with standard seat in low position. Can ride it in the high position if I want to...
One thing, the seat is fairly narrow at the front, so your legs can go more straight down than some other bikes. Another, it settles/sags more than a sport tourer.... if you set preload for a sag of 1/3 of travel on a sport tourer with say 4.5" of travel you are sagging like 1 1/4" or so. But you have like 3 more inches of travel on a dual sport.... so you would get like 1" more sag with the suspension properly set, so like 2 1/4 inches or so.
When considering low seats vs lowered bikes keep in mind that the seat to foot peg relationship needs to comfortable, and the seat to ground relationship is a separate matter. For sport touring you don't need all the ground clearance that the S10 provides. So you have the option of the low seat, or has been suggested, a lower bike. My point is that I believe you should get the bike, sit it, ride it, and see what you think. You may be happy with the stock seat. You may find that the low seat would cramp you vis a vis the foot pegs and you would have to lower them too. You may feel that you prefer to keep the stock ergos and lower the bike instead of the seat. All readily done.
Best wishes.