Traveling with a slr kit can be a pita. On every trip I've regretted some shots I didn't take because I was bored/tired to go through the procedure.
The fasted/easiest way I've found out until now, is to have the slr with a usefull lens (quite different for each one) on the tank bag where with a single unzip to get the camera and take the shot. The rest is left on a sidecase. I don't any padding or extra bag on ether one, although on the sidecase I try to place them on a fixed position between some soft stuff (clothes, etc). I didn't had any issues after 25k km. On the last two trips though in Iceland and Tuscany I took with me just one lens, a 50mm & 28mm respectively  .
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