OP! Stay mindful of the weight of many touring rigs: bike, luggage, camping gear, food, everything else. Far more than a recreational bike will weigh. On my recent 5 day tour the whole shebang weighed 70lbs. Be sure that your racks are designed for that. I agree that the usual city park/school yard racks with slots for the front wheel will be a very poor design.

I would also prefer a rack at my campsite where I can see and hear it all night. Otherwise I'd forsake the racks and use a tree. It would be nice if the rack is narrow enough to fit between the saddle and the bars, not interfere with the front nor rear panniers. Great for us old farts that have no kick stands.