I have a '14 S10, once owned a westsrom and have owned an assortment of KLR's and DR's as well. The wee is a fine street bike but it's off-road potential is limited, the S10 is heavier but better suited to that. Either tho are the wrong tool for the job if that is what you want to do. A DR 650 would be better, a DR 400 better still; less weight, more ground clearance and not a lot pricey hard plastic bits to break.
The less weight you have off road, the more fun it generally is. I'd be looking for a used 250-400 dual sport. If height is an issue, try a TW200, 'silly fun if you can fit on one.