I've always quite fancied the Falco personally and I possibly would've got one instead of my RSV if they still made one (wanted a new new bike.) I even called up Aprilia UK to see if they planned to make a successor or something similar but alas not. The Falco is such an underated bike, miles better than a Honda Firestorm in my opinion with more go, better looks, equipment and bags more character, and not so extreme as the RSV or Tuono in terms of comfort and riding position so good for a spot of touring too.
Speaking of which, the Tuono's high bars make it more comfy than the RSV and better at touring I would guess (has anyone ever "toured" on an RSV?) but I still very much doubt that I personally would go two-up touring on Tuono. However I don't own one and never have so I couldn't really say how good a tourer it is with any authority. It could undoutedly do it but how well I'm not sure.
The Futura is the obvious option and I actually think it's very nice although not my thing to be honest but it is no doubt the Aprilia touring king...which brings me back to the Falco. I tend to think I would go for the Falco as it's got a bit more of a sporty edge to it than the Futura for when the Mrs isn't on the back if you fancy a bit of devilment through the twisties but it's relatively practical too and it turn it's hand to a bit of touring too I reckon.