Don't limit yourself to steel - a decent aluminum bike will be lighter and better for riding than a heavy steel frame when not doing loaded touring, and will likely be stiffer and handle a load better than a lightweight steel frame. Lots of options in the 'gravel bike' category that can easily be set up with bikepacking bags, or racks and panniers if the chainstays are long enough/your feet are small enough to not hit the rear panniers when pedalling