Khan, not sure which state you are in but in TN and most others, you only pay the taxes on the difference in a trade. If you sell it yourself, you may have to take into account how much more you would pay in taxes. Sometimes you can get more than enough to offset the difference in a sell-it-yourself but you could be sitting on it for a while OR you may only break even (I've done both). Depending on your state taxes, trading can make a big difference in the OTD pricing.
Investigating your offer with none of the extras based in my area, I would expect a good offer of $18,000 with some wiggle room to maybe $19,000 or $19,500. I didn't figure any of your options into the trade as most dealers only allow $.10 on the dollar for additional equipment. If you are trading at the dealer you bought the bike (and options), you may do better than that on a trade...sometimes you do, sometimes ya don't.
Good luck whichever way you go...