This lists all the differences between the R, the S and the R Rally. All the rest is strictly identical. The R Rally is a limited edition, with 500 units.

So far the 2019 and the 2020 models seems identical (Rally is 2020 only). A careful look at the 2019 and 2020 parts number does show some changes however, all captured by Krussell on advrider.

	Adventure S	Adventure R	Adventure R Rally
Frame color	All Black	All Orange	Orange Frame, Black rear subframe.
Tank Color	Black Tinted rotomolded plastic	Black Tinted rotomolded plastic	White Tinted rotomolded plastic painted blue
Battery cover	Black	Black	Orange p/n 63511054010EB
Steering rake	25,9°	26,3°	26.3º
Fork	non-adjustable 43mm conventional open-cartridge WP Apex	fully adjustable 48mm WP closed-cartridge XPLOR	fully adjustable 48mm WP cone valves XPLOR PRO 7548
Rear suspension	WP Apex PDS Preload adjustment only	WP XPLOR fully adjustable high and low-speed compression, rebound damping and preload	WP XPLOR PRO 6746 fully adjustable high and low-speed compression, rebound damping and preload
Suspension travel	200mm	240mm	240mm (rear) 270mm (front)
Ground clearance	233mm	263mm	273mm*
Seat (more details)	Two Part seat	Single piece seat	Tall Rally seat, Orange
Rear view mirrors	Triangular Note third party mirror may need an adaptor.	Round	Round
Front fender/mudguard	Low, tire hugging, front fender P/n 63508910544 ~213 euro	High front fender, black P/n 63508910044 ~150 euro	High front fender, white
Rims	Tubeless 2.50 x 21 (front) and 4.50 x 18 (rear)	Tubeless 2.50 x 21 (front) and 4.50 x 18 (rear)	Tube Type 2.15 x 21 (front) 4 x 18 (rear)
Tires (more details)	Avon AV53 Trailrider	Metzeler Karoo 3	Metzeler Karoo 3, same model as the R, but mounted with inner tubes.
Windshield (more details)	High front screen, clear	Low front screen, smoked	Low front screen, clear (with clear winglets)
Side plastics	White (rear) and either Orange or White (front)	Black (rear) and White (front)	White front and rear. And an Orange battery cover instead of black.
Handguards	Black	Black/Orange	Black
Rally mode	Option	Standard	Standard
Akrapovič Exhaust	Option	Option	Standard
Tank protector	Plastic	Plastic	Carbon
Footpeg	Standard, with removable rubber	Standard, with removable rubber	Rally footpegs
quickshift+	Option	Option	Standard
Cruise Control	Option	Option	Standard

See the high definition press images of the various models.