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Not to be difficult but, it depends on how small all your gear is, what kind of luxury you want and how far you plan on cycling. If I'm going away on my own I will have a small seat bag and half frame bag, if it's with a group of friends and me + girlfriend on the tandem then it ends up being 2 panniers each!
So, what is go to bike touring luggage setup that will take a tent, mat, sleeping bag, food and clothing for a couple of nights?