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It's entirely down to your own feelings of confidence and whether you want to risk damage. It's probably wise to invest in a decent bash plate, wrap-around hand guards and some more encompassing engine protection (I use crash bungs).
Oh, and politely ask your pillion to get off...and perhaps you should remove all of your luggage too....and make sure the tank is less than half-full. Every time I think 'should I take my nice shiney Tiger off road?' I remember that guy who travelled the world on an R1. You can even do it on an 07. End of!
Jon
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