I am cheap, like to use what I have. For camping everything camping goes in individual compression stuff sacks on the right; tent, sleeping bag, cot, pillow, mattress pad. Left is clothes and I use old helmet bags with the draw string to store them. They will pack to any shape, I have lots of them in different colors and they will throw over your shoulder. I have two small bags that strap on the lids. Again the cheap route. rather than buy your expensive Tourtech like stuff, I searched for bicycle bags. The ones in the pictures are rear rack bags. I think I paid $15 each. One side is my bike cover and a few light things, the other side is the compressor, air gauge. Tools are now down low under the panniers in the tool tubes (no pictures). Cooking stuff; food, stove, grills, pans all go in a small top case. I also did a bit of cutting in the plastic under the passenger seat. I found a nice big hole under the plastic and that stores my repair kit in a plastic case (shown with my compressor bag that I used to store there); wire, tape, glue, clamps, zip ties and spare levers. My tire plug kits fits under the main seat along with a tow rope.
By the way those lid bags also drop nicely into the panniers when I am traveling light and do not want them on the top
The whole thing is tight, tidy and low cg