I have resigned myself to drop kicking my leg over to get on when travelling.
Here is my setup with details. I have refined it somewhat over time to give me everything I want when camping and am 90% happy with everything. Setup is the same regardless of the trip length. I like this setup as the big camping stuff is isolated to the dry bags which stay packed all the time, ready to go. Panniers have plenty of extra space if needed.
Left pannier has clothes and personal items
Right pannier has laptop bag, stove, fuel canister, and random camping items
Top case is variable for whatever I may need easy access to.
One 30L dry bag has sleeping pad, sleeping bag, pillow, cookset, hatchet (not chopping anything down, more splitting logs into kindling, or breaking up wet logs)
Other 30L dry bag has tent, tent floor , chair
Soft sided cooler sits on the rear seat for refrigerated food and beer
the first camping trip I went on with the tenere I had a bag just as big strapped across the back just like the previous photo to this post.... made for a great back rest , but almost impossible to get on and off the bike with out falling or risking tipping bike over.... the second time I went camping I decided to see how much I could actually store in my panniers.... well to my surprise all of it ..... every bit of kit fit in my boxes , just took some creative and thoughtful packing insuring that all the dead space was filled with all the small items. I use touratech , my buddy uses Yamaha boxes and if I remember right he also had everything in his boxes...it can be done.