My buddy that is a world champ off road racer (he holds the current 24 hour off road title) took my friends wife on the back of his bike for a 200+ mile brutal off road ride across Kauai on the "Horse Trail" a wild trail that goes from one side of the Island to the other. Its mainly a expert level hiking trail thats barely passable on bike and only if your a dam good rider. He never once made her get off except when he had to ride one of our bikes through az couple extremely bad sections where a mistake would send you down a several hundred foot drop off... even on those he rode through with the wife on the back!
I rode my bike through all but one that was a off camber directly above Wailua Falls... I just didnt feel comfortable doing it so Phill hopped on and rode my bike through it like nothing just walking it was knarly, clinging to vines and anything to hold on to as I crawled the 20 feet to the oppsite side

it was ultra nasty.
A SM isnt any different than a Dualsport both arent the most comfortable to 2 up on but it definatly can be done.
Phill was on a XR650 Honda. Ive done some 2 up on the DR350 and it was no problem except if it got rough the seat angles to the tank making the passenger push you onto the tank but other than that its fine. Long rides are definatly a test of your butt tho :lol