I have pretty much all the same requirements of a bike (minus the roll on wheelies, but I'll take em if I can get em), and I've been extremely happy with my DL650 V-Strom. The 07s have ABS available. You won't get the roll on wheelies (except maybe in 1st), but it's easy to clutch up if that's your thing.
If you're willing to spend a bit more and compromise a bit on the running costs, the new Triumph Tiger, the Multistrada, the Buell Ulysses, or maybe even an FZ1 will all lift the front quite easily. You're going to pay for it in gas and tires though.