I just learned to ride a bike, so I don't know what it's like to ride without a rack.

I did have to adjust though once I put panniers on the rack. I kicked them a couple of times with my heels, but after adjusting my foot placement on the pedals, I wasn't kicking them constantly or anything like that. I'll probably go grocery shopping on my bike for the first time this weekend, so I'll experience for the first time what it feels like to ride with some stuff loaded in the panniers.