My (now ancient) Endurance soft panniers, which are massive, sit nicely on my Himalayan pillion footpegs. They don't / didn't sit quite right on any other bikes' pegs, but even then I've always used the footpegs as an anchor point.
On the Tangos I've put a piece of ally 10mm tube from the left pillion footpeg heel guard up to the base of the indicator, which is a solid point on the back mudguard - that keeps bags from flapping around and had the side effect of stopping the number plate from shaking around while off-roading  (we only put one bag on the side of them because of the exhaust on the other side, it works ok as long as it's just light things like bedding)
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