One option to consider is the rear rack made by Cycleracks out of Boise,ID. That's what I have on my WR250R and I am very happy with it.
I also bought the removable side racks that hook onto the rear rack and provide side support for my soft Ortlieb panniers.
Cycleracks builds racks specific for many different bikes and this is my third. Wouldn't try anything else!!
This setup works great for me and I can easily camp off my bike which I do regularly on my Idaho forest service gravel road trips.
The folks at Cycleracks send you the rack and if you like it, you send them a check!! Trusting folks!!
It is wider/larger than most racks you see on this forum but it provides protection when you put your bike down.