Yes it can be done but its not cheap as noboddy really makes a luggage rack for the XR650R. This is probably because the subframe is far too weak to suppor the weight. Probably your only option is to find someone who will custom make a pannier rack to fit premade Metal boxes. Overland solutions in the UK are well renound for their craftmanship and im sure there are more companies in Canada which can do the same.
Just make sure that whoever builds your racks also strengthens your subframe.
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Did some trips.
Rode some bikes.
Fix them for a living.
Can't say anymore.
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