Soft is best in tough conditions.
I have ridden my strom off road more than most to know. It is not really an off road bike. My take on panniers and I have tried most is. If road you are traveling is mostly tar. It does not matter whether you use hard or soft..
If the road/ track is hard going. Then soft is the way to go. With hard panniers you need to have them tightly packed to stop your valuables destroying themselves.
Steel pony soft luggage after couple of desert crossings.

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