You will not have any trouble with clutch and shifting if you have ridden dirt bikes. I don't think you will have any trouble with the weight of the Venture. I am also 5' 10" with 30" inseam. When I bought my 03 from my brother I hadn't been on a bike for 18 years. I did take it easy with it till I was comfortable with it before I let the wife ride with me but that didn't take very long at all.