I too was disappointed to read about the limitations of the rack under the pillion seat in the manual. I decided I would just strap down my Wolfman duffel across the pillion seat, which I know will carry the weight. I have hard panniers that will hold the majority of the heavier stuff lower with the duffel holding bulky things like tent, tent poles and sleeping bag. I won't be carrying any more gear on the Super Tenere than I did on my XR650L with soft bags, except maybe some extra clothes, and it did fine on and off road. I don't plan on going any more "offroad" than gravel roads on the S10 on my next trip.
One thing I learned a couple of years ago about weight high and to the rear - I bought an Africa Twin on a fly and ride that had a big top box, jumped on it and rode 3,300 miles across the US - if there's any appreciable weight that high and that far back, at least on an AT, it upsets the handling of the bike so much that I couldn't take both hands off the bars without starting a head-shake that quickly became alarming. Without the top box, I could take both hands off and it tracked perfectly. Just to be clear, I don't ride with both hands off the bars - I was just checking to see how it tracked with my hands just above the grips and my answer was the head-shake. I was initially concerned that the bike had been bent or something was badly out of line, but it was just the weight of the box and contents that far from the center of gravity.