Saddle bags on F800GS

I have a 2013 model F800GS and use the soft luggage bag from my old 1200GS fitted onto a custom made luggage rack for long trips. Heavily loaded I find it uncomfortable to get onto the bike because of the height of the bag. The centre of gravity is also very high. I am considering getting saddle bags. What is the best solution to keep the bags away from the exhaust without fitting pannier racks? Thanks for your innovative suggestions!