Search on this forum for "bikepacking" and "ultralight", you might be surprised at what's possible without racks or with racks that mount to the seat post. Whatever setup you choose, do plenty of riding with it before you start your big tour.
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Rear panniers and a rack pack should be sufficient. The bike will be more stable with load distributed front and rear, but not a necessity. Really just encourages hauling more than is needed, especially in the populated east. As a back packer, you can do it with minimal gear.
Can't help you with the p-camp question. I'm a cable tie guy. Don't forget the trailer option. I've seen guys pulling box store baby haulers filled with camping gear.