I own a '05 Kawasaki Concours, bought it brand new, and have a little over 27k on it. Lot of bike for the money. The 94-06 models are pretty much the same. The '86-93 models had different gauges, wheels, front brake calipers and cam tensioners.
Your height would be a good match for the bike. I stand about 5'11", and if I was an inch or two taller, it'd be perfect. It'll do the highway trips all day long no complaints, and the hardcase luggage is really useful. They use screw-type valve adjusters, and valve adjustments can be done in an afternoon's work. They have a fair amount of accesories availible for them and great support group (Concours Owners Group, and two forums). The performance is no match for a modern sportbike but it does respectably well, and it speed it handles way better than most people give it credit for.
Yeah it does get a rap for being an "old man's bike..." So do Goldwings...but I can say this from experience...Went to one COG rally in South Dakota, and followed two old COGger's into Montana. One had about half a dozen Iron Butt rally patches on his jacket, and the other routinely went to track days. Both were in their 60's. Wound up chasing them both into WY with a little over 100 mph on the clock.
It does have some cons. With a full tank of gas they weigh about 630 pounds, and that weight is high (keep in mind the gas tank holds 7.5 gallons). The fuel petcocks were prone to going bad after a few years (I've replaced mine once in the time I've owned it) and if neglected, can cause a hydrolock situation (bent rods & other engine damage if ignored). Some people complain about a sportbike-like "buzz" feeling through the bars, but normally a good valve adjustment and carb synch cures it. Kawasaki's quality control sometimes leaves something to be desired, too.
Another issue is the heat - the fairing wraps around the radiator and acts like a big fan duct putting the heat on the rider during hot days! I got around this by cutting down the windshield. On colder days this is actually a plus, though. There are fairing "wings" on the side that can be reversed, which helps some.
On mine the gas mileage has varied a lot, the worst was 38 mpg (commuter riding) and the best was 48 mpg (short highway trip w/tank bag and no saddlebags). Another time it got 46.5 mpg on a two day trip, fully loaded two-up with tank bag, saddlebags, tail bag & backrest.
If you have any other questions, feel free to PM or just ask. I went from riding a '72 CB750 to the Concours, and can tell you it's a night and day different bike.