This might help illustrate my point....
These photos were both taken in generally the same spot, a few years apart. On the left is my Harley Road King, all packed up for a cross country trip to the Southwest. It might be marketed as a touring bike, but as you can see, there isn't a lot of room in those bitchin' cool leather saddlebags for much more than a six pack. I had to build a luggage rack to mount over the rear fender so I'd have a place to put my T-Bag touring pack, with a roll bag on top the T-Bag, plus a backpack and my sleeping bag sitting on the pillion seat. My leather jacket wouldn't even fit in the saddlebags. The bike is doing a decent impersonation of the Joad family truck from the Grapes of Wrath. And this was a solo trip for about 17 days.
On the right is my Super Tenere. The luggage is a set of Chinese knockoff Pelican cases that probably cost a tenth of what those leather clad HD bags did, but probably have three times the storage volume. I not only have all my gear, but I'm carrying my partner's riding gear and helmet so we can meet up in Colorado Springs for a tour through Colorado, Utah, Arizona and New Mexico. I even have cold weather gear for two, since we were going to be riding up Pike's Peak. Unlike the Harley, I can actually lock these panniers and not be paranoid about leaving the bike out of my sight for a few minutes when I had to go inside a store.
Despite the Barca-Lounger appearance, the Road King was far less comfortable. Riding with your feet kicked out forwards might look comfortable, but it was brutal on my back after a few hundred miles. The seat was like a bucket that didn't allow a lot of movement to relieve pressure points, and my passenger was basically pinned between me and her backrest. The Harley looks big, but the "cockpit" was small.
The Yamaha has enough room that my partner can actually sit there and read her phone while we ride. She can twist around and stretch her back without ever colliding with me. And I can easily stand up and stretch while riding, something that would be a lot more sketchy on the Harley; I never tried it, but I suspect that if you managed to do it on the Harley, your junk would be resting on the beach bars. The upright seating position, with your feet much closer aligned to your hips, is so much easier on your back and shoulders. And the ability to stand up and stretch while riding can make the difference between a grueling 500 mile ride and a decent 500 mile ride.
The S10 is far more suited to the needs of touring than what some companies define as a "touring bike". Simply for the carrying capacity for two up touring alone, I would choose a Super Ten over an FJR or a Concours. You could never stuff a tent into the weird shaped panniers on a bike like the FJR. And I don't know how you could go on a week or two trip with a passenger on a bike with the sorts of panniers like you find on most sport tourers, unless you intended to wear the same clothes for the entire trip.