You're kind of asking two different questions. Ideal sleep systems and shelters for (fully loaded) touring will be different from the ideal system for bikepacking, at least as far as tents/shelters are concerned.

However, for both applications, the Therm-a-Rest NeoAir XTherm is going to be one of the lightest, most compact, and most comfortable sleeping pads that you can buy. It retails for about $175, so it's not cheap at all, but it packs down to about the size of a tall boy aluminum can and inflates/deflates quickly. I've used it for years and couldn't say enough good things about it.

If we're talking specifically about touring-appropriate shelters that aren't as restricted by bike-packing size requirements, I would recommend the Marmot Limelight tent, either the one- or two-person version. I personally use Limelight 2P, because the packed weight and size is only slightly greater than the 1P, and the extra room on a rainy night makes all the difference in the world. Well, to me at least.