Touring bikes come in light, medium and expedition grades.
A light-touring bike (called variously:sport/rondanneur/audax/clubman/winter training) has a frame about as heavy as midrange road bike but more tyre clearance through the use of long-drop caliper brakes and full set of threaded eyelets.
Soma ES is a typical example.
I have used long drop calipers and cantilevers and they both stop with similar power. Calipers have better control, and easier to setup and better matched to modern brake levers. If you want tyres up to 28mm then I recommend them. My own sport bike can take 32mm + fenders.
The classic US touring bike, Surly LHT is toward the heavier end of medium.
CX bikes make good all-rounders and are fine for touring.
Getting an upright position is a matter of selecting a short enough top tube and stem with enough rise.
Some riders do away with drop bars entirely and use trekking style butterfly bars. This allows the use of flat bar controls which are better matched to touring brakes and derailleurs.