I'd get these:
https://www.tubus.com/en/products/ac...ithout-eyelets
and this:
https://www.tubus.com/en/products/fr...s-product/tara
and whatever front/small panniers you prefer. Maybe a framebag and a handlebar feedbag to hold a bottle of water. Heaviest stuff in the framebag, next heaviest stuff in the front panniers, lighter stuff (sleeping bag, down jacket) in a drybag strapped on top of the rear rack.
Your bike isn't a heavy duty touring bike (I don't think) so putting a lot of weight in rear panniers will make it unstable. Distributing most of the weight between framebag and front panniers - I think that's the best way to keep it handling decently.
You could also add a rando rack and rando bag to have some things easily accessible when you're riding.