I think there are specific touring bike designs out there that are close to what they are advertised to be. Fuji Touring and Trek 520 are/have been among those in for the long haul.

My first "proper" touring bike was a Fuji Touring. It came with a rear rack, braze-ons for fenders, and front rack, and a reasonable saddle, plus Tiagra triple by nine shifters. This was back at the turn of the century. It served me extremely well, but after not too long, the priority change-out was the road crankset for an MTB crankset.

It was a pretty standard move in the day, but the reason why these Shimano-equipped bikes were issued with road cranks was that Shimano couldn't be bothered to come up with a front derailleur that would cope with the MTB triple crankset (the go-to fix was to put on a Tiagra triple derailleur).

But while the Fuji was good, I felt I could do better when it come time to replace it. So I ordered Thorn Club Tour frames and built them up with exactly what I considered to be ideal touring bikes. Significantly, nothing has been changed on them since they were commissioned.

Of course, those builds came after achieving extensive experience with other bikes, including long distances on randonnees and tours, and riding in various places around the world that included a lot of hills and road conditions.