Eureka Backcountry in forest green.
Free-standing - stakes only for windy conditions.
Not expedition quality, but perfectly adequate for 99.8% of your touring.

http://www.eurekatent.com/Backcountry1.asp

This newer version is longer, narrower, and a little lower than mine.
Still, you should be able to get your panniers inside plus have plenty of room for you.
Lower is probably better when it is windy - but I can easily sit up in mine.

Cost - maybe $125 - less at outlets. Campmor has it for $109.
Weight - just under 4 lbs.
Simply and fast to set up.