Cruising speed is on the moderate side, though the motor willingly spins up close to redline in sixth gear, good for maintaining speeds in the 75 miles per hour range. The mirrors work well, offering a vibration-free picture without including any elbows in the vision equation. For extended highway trips the seat is on the narrow side, but adjusting body position by moving forward and back allows extended saddle time. My longest day thus far on the bike has been 500 miles. And I could walk afterwards.
Longer stints are definitely possible.
If you are looking to buy a machine to actually ride to an ORV area, the XT would be perfect. The front binder isn't the most sensitive unit on the planet. Generous suspension, with swoopy accordion-style fork tube protectors, dives under heavy braking. Gearing on the Yamaha is on the low side of the spectrum. Be ready to shift up in situations you might not normally think you'd have to.