Just a followup to put some of this into perspective. You can do what you describe on just about any bike so the one you enjoy is the one to use.

I met a few dutch guys on the Southern Tier who rode long days day after day riding bolt upright. They made very good time and seemed to be having fun. Me, I would have been miserable. I find full on road bike posture most comfortable for long days of riding. So my bikes whether road, mountain, or touring tend to have the bars 4" below the saddle in an attempt to duplicate the supreme comfort of my road bike. What makes you happy could be anywhere in the range between these extremes.

Additionally I find sportier bikes to be more fun to ride so I ride them when I can.