I decided to try Lomo panniers on my 2020 XT and was also concerned about damage from the exhaust. Your bike may have a different silencer setup, but the pics below show the solution for my bike, chosen because for width reasons I wanted the RH pannier to sit above the exhaust. The frames are an old pair that I already had, modified to position the bags correctly. The “shelves” are attached only when the panniers are being used, this takes just a few minutes. I’ve probably over engineered this, the solution for your model may be much simpler.
The Lomo bags seem very well made and are surprisingly spacious. My intention is to fit engine bars plus the Lomo crash bar bags, this should give us plenty of capacity.