For mid trail or Surly/Rivendell-like geometries, when configuring a rear load it helps to keep as much weight as possible in front of the rear axle. The contact patch of the rear tire is the fulcrum of a shimmy inducing lever. For the front you want low panniers with mass nearly concentric with the axle. A basket or rack is great for your tent and some lightweight clothing. After that you can refine the handling with some experimentation, but ultimately you won't expert to ride with no hands when the bike is fully loaded.
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