I had a Thor Four Winds 5000 21A way back in the mid nineties that had a similar floor plan to the 23A, just a little shorter, and no swivel chair. It weighed around 9,000# and was about 22' long. I currently have a 97 Coachmen 22RK that is 24' long and weighs around ~ 9,600# I believe (it's not at my house right now). I found both those motor homes to be able to go just about anywhere (I'm not talking off roading/boondocking)a car can go vehicles. I never needed a toad with either one. The 22'er was actually my daily driver for almost 10 years, while the 24'er was a daily driver for about a year.
That 23A is probably around 9,500# or so, and also about 24' long. I don't know what your KLR250 weighs, but it could be an issue mounted on a carrier.
