After using hard panniers, hard and soft top boxes and a roll bag on various trips, I agree with Richlybow and Pleiades on using those smallish hard panniers and strap the soft luggage onto the rear carrier and maybe part of the back seat. This seems to give the best option for touring where bad roads will be encountered.

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2014 XT660Z - Barrett pipe, DNA stage1.5, Barkbuster hand guards and handlebars, Pivot pegs, Teknik suspension, Guard-it engine protector combo, B&B rear rack, Trax topbox.