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Depends what you're lashing - is it hard, soft? Do you want it to be quick to get at?
I've used bungees, voile, toestraps, Restrap hyplock(?) straps and combinations of those for different things. Basically if you do this a while you'll end up with a collection of straps that'll work for different situations.
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I use velcro straps from ebay, super cheap and light. The poor man's Voile.
What's the forum's go-to method of lashing stuff to pannier racks? Bungees? Voile straps? Something else?