@MCGMB - regarding the bikes. All rallies and LD riding prior to 2023 was on my '05 FJR, including the '21 IBR - about 120k miles. The S10 was outfitted for the '23 IBR, but I also did a SS and BBG on it driving it home from Cali where I bought it - only about 20k miles for me on the S10.
In general terms, both are very capable LD mounts. The FJR is slightly better on the highway for wind protection & fuel economy, but the S10 was great to have on rough roads (and rough highways). The S10 soaks up the bumps a lot better. I like to say you sit "in" the FJR, and "on" the S10. I'm 6'-4", ~215lbs, so the higher seat on the S10 gave my legs a more neutral position, but I was never uncomfortable on the FJR. The lower seat on the FJR is definitely nicer / easier to climb onto on day 9-10-11 of the IBR than the high leg-lift needed for the S10, but I didn't have any problems with the S10. The S10 engine isn't lacking power, but it definetly doesn't have the punch the FJR does for highway speed passing efforts. No problems, just took a bit to get used to. I rode double-dark-side on my FJR and was very nervous about tire life on the S10, but the Trail Max Missions I was running were going to make it for the full IBR, but not a ton futher. And, that's still only half the life of a dark-side. I'm frugal (cheap), so I wasn't looking forward to buying moto-tires again. No good options to dark side a S10. The tire size is more specialized and I couldn't find anything available for dark siding. The S10 was slighlty superior on the one gravel road I got on in Washington, but that's mostly due to suspension compliance. Only negative for the S10 is that it recommends premium fuel, and did seem to run better / get better mileage on it so that's what I ran. The FJR got regular gas it's whole life and never complained.
Long story short - I'm fully sold on any Yamaha. Both the FJR and S10 work very well for LD riding and rallies. I'd say the FJR wins for the purpose, but the S10 wins if there is a guarantee of dirt / rough roads. The S10 also wins in the damage-resitance column. Even with crashbars a FJR has more plastic to get beat up. The S10 may get scuffed, but less likely to destroy fairing stays, painted pannier lids, etc.