I really love my current bike for just that, it’s an Cbr 600f and I guess considered a sport tourer so even at original you sit really well.
I also swapped the clipons so now they’re at a more leveled angle, this makes it up to me if I wanna ride really sporty with my chest glued to the tank, or as I most often prefer to sit almost straight up!(or anywhere in between).
The only time my knees felt really terrible was on my way home after a three day trip at 2200 km, other then that it rocks
My previous bike, the NTV 650 Revere was a standard bike, also seated straight up but not the same power or sporty, really nice torque though.