I prefer a steel touring frame with wider (37mm) tires, equipped with front and rear panniers and at least three water bottle cages. I can ride a bike like this carrying about 50 pounds of gear anywhere between 50 and 100 miles on pleasure tours. Properly motivated, I could certainly do more. Being kind of elderly, I have come to appreciate low gearing.

This kind of bike will give a stable ride and will be able to venture onto dirt roads and even very easy single track.

Besides, keeping the bike and body ready for bug out (or in) use is a lot of fun!

While this kind of bike is what I would consider optimum, almost any bike you are comfortable with will serve quite well.