Road/gravel/bikepacking/adventure bike for midwest US roads and gravel

Looking for something that's more "endurance road bike which is at ease on gravel and a green trail" than "drop bar XC MTB". It'll feel at home loaded with bikebacking gear- plenty of dropouts for attachments and stable at speed, but not be a major drag to take out on the road with others on endurance road bikes. I already have a hardtail and full sus MTB for trails, Surly ICT for year round commuter. Prioritize a comfortable ride for hours over optimum aerodynamics and responsiveness- I'm not trying to be faster than anyone, just not to be at a measurable disadvantage for group rides, while being at home on midwest gravel.

Leaders so far: Specialized Diverge, Otso Warakin, Trek Checkpoint SL6, FELT Broam, Surly Midnight Special. Budget: <$3K would be nice.