I've paved road toured on my FJ since 2015 using hard luggage (H-B C-bow Orbit panniers, Orbit 54L Top box and Givi Tank-Lock bag). On a recent trip in mainland Mexico, I had to ride a road works bypass road for 12 miles. It was knarly and rocky, with some sand. I came away impressed how well my street tire shod FJ did. The seed germinated on the way home. This bike will make a good ADV bike, meaning not two track/single track dual sport stuff, but gravel and improved dirt roads with the inevitable short challenging sections. From the outset I already had a Higdonion Cage V1.0, steering damper and Matris front and rear. These are the changes I made, not just for ergonomics, but to better survive a dirt tip over.
Mosko Moto Scout Panniers (robbed from my WR250R) mounted on a H-B Side Carrier Rack
Pelican 1557 Rear Box on my existing SW Motech rear rack (The box is narrower than the panniers)
Wolfman Soft Tank Bag
Wider and Taller Pro-Taper Bar
Pivot Pegz
Double Take Mirrors
Highway Dirt Bike Hand Guards
Radiator Guard
Michelin Anakee Adventure Tires
Does surprising well on subsequent dirt test rides. I turn the TC off and run B mode.