I use soft luggage, and it will do. BUT.. I did not see all of the things I wanted to see for the very reason you mention, that of not being able to leave the bike loaded and secure. If you can find it I would go the solid luggage route. If there are any nasty corner near you heels, maybe attach a bit of bike tyre to round off any points that might make human impact if you topple or otherwise come off.
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