I forgot to mention what I do at night... I leave the panniers on the bike with most of the gear in them. The handlebar bag, whatever I need for the night, and what I will wear in the morning comes in everything else stays on the bike. I lock the bike at night with a cable lock most nights and try to keep it close and in sight from the tent.

The exception is where I think the likelihood of being raided by critters is high. In that case the panniers may be hung out of reach or kept in a bear box.

The other thing is tail heads where we want to go for a hike. In that case I take the handlebar bag (it has a shoulder strap), and cable lock the bike somewhere it is out of sight to passing traffic or in plain sight depending on which seems safer for that particular location.