This is what the factory uses for saddlebags.  They frames prevent the saddlebags from touching the tire, shocks or exhaust.  The saddlebags are connected and go on top of the fender or seat.

I am not aware of any factory mounts for hard saddlebags (panniers) - those who are running hard bags have likely made their own mounts.

This is what the Suzuki frames look like - they use the nuts that are located inside the fender.

https://www.ebay.com/i/114466590974?chn=ps&norover=1&mkevt=1&mkrid=711-117182...

Here is how Ventura mount the rear of their bars [Relocation of turn signals optional]  Basically a spacer down from where the turn signals mount