The adventure-bike market is crowded with options, and sorting out the best one for any individual rider is an exercise that typically requires several opinionated friends and a copious amount of beer. The Africa Twin does not make this exercise easier, because in my view it claims new ground.
It also does not fit in with the other mid-size ADV bikes, such as the Suzuki V-Strom 650, BMW F800GS, or Triumph 800XC. Those bikes are less capable off-road, and less integrated to a true adventure design brief. They all have their bright spots, but none of them is as consistently capable as the Honda.
The closest competitor I see is the now-retired KTM 950/990 Adventure. The Africa Twin is less raw than the original Adventure, and that's both good and bad—you won't feel like Fabrizio Meoni winning Dakar on your way to work, but then again, none of us are Meoni, and the Honda is never punishing like the old KTM could be.