Ok

Here is what I am want to do?
Am I on the right track?

I will get the Ventura Rack for the XR, then on this rack weld some 10mm Steel Pannier Racks to it to keep the Panniers off the plastics (and the exhaust).
Whilst I dont particluary want to use the Rack itself (other than to tie the tent onto) I will use the Pannier racks and panniers most of the time.

I agree with what Clint640 said about the pack rack, as I too prefer to swing my leg over the bike.

I dont think the XR has passenger footegs, but I will see how we go.