Hello Marco,
Ex KTM 990s Adventure owner here......now Triumph Rocket 3R owner.
I think the 950 was a nicer bike than the 990.....The carbs made the engine much more controllable off-road. The fuel injection on the 990 made it more road orientated due to snatchy throttle response.
I too enjoy riding in the hills where I live and the KTM was of course one of the best bikes to do that job.
Now talking about the dynamics of the current Rocket 3.....I really enjoy throwing the bike around in the corners, but I've never scraped the foot pegs on the ground so it's not something that i've ever thought about.
Perhaps i'm not trying hard enough
some folk will say.
One thing however that the bike isn't great with is turning really tight corners. This is mainly due to the long wheelbase and fat front tyre etc...
So tight hairpins need a lot of counter steering to get the bike to cut into the bends.
I think the bike handles the corners very well for it's size, but it is a heavy bike and needs to be ridden with this in mind, especially on twisty mountain roads. The brakes are very good and there is plenty of solidity/grip from the tyres, so it's easy to get quite confident, but it's weight can catch you out, so just bear that in mind, and perhaps the pegs do need to touch the tarmac if you're really racing around tight bends, but I have so much fun riding the bike at speeds lower than that, so it just doesn't happen. In fact, I have been surprised how far over you can lean the bike with confidence.