>>2814809
Two ways:
>bed roll on a strap
Basically, you roll your stuff into your tarp, blanket, or sleeping bag, with a looped strap through the center, then cinch it up with two straps. Only comfy with very light weights (think 2kg, max)
>packframe
Same as an external frame backpack, except that instead of a bag, it uses a shelf on the bottom. Alice frame + shelf is the most common. But it's basically a backpack without the bag, and feels just the same.

Really, though, I'd bet that your problem isn't carrying a backpack, but carrying a shitty backpack. An external frame pack with a good waist belt and a sternum strap is very comfy. If you want to try a setup like that, I'd recommend getting a Molle-Alice if you can afford it, or a milsurp medium Alice with proper straps (Tactical tailor, Grey ghost, ordnance tactical, platatac, savotta or whichever you can get wherever you are).

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Travelling with only a sleeping bag and tent