I've got Ventura rack, and the large bag, for my gen 3. I'd highly recommend it to anybody. Bag is ample size for a week's touring.
Takes 10 mins to fit the system before a trip. Works with my evotech tail tidy, no bother at all, no mods to bodywork, or exhaust.
You can fit rack over pillion seat when on your own, or rotate 180 degrees, with rack over the light and extending beyond the back of the bike, freeing up the pillion seat if your 2 up. Side rails mount with the pillion pegs fitted, if required.