I think if you prefer to float and brace, you should go up a size to the XL. at 160, I have spent some tie in both boats, and while they don't need to be driven very hard, they still need to be moved. I definitely find that I can be lazier in the XL compared to the LG, where I have to always have a bad in the water for it to paddle well. That being said, it is still a boat that you can float some with it.
I think that a lot of this comes from the fact that I was taught to be an aggressive paddler, so I have more fun driving a boat. I know a lot of people who have a more passive paddling style who love paddling the burn as well.
Let me know if you have any more questions for me to answer.