These are the same ones I have for my day trips and they are excellent for the price. I treated mine to be waterproof and fitted foam stiffeners to give them shape. This keeps the RH one clear of the exhaust.
I have racks but looking at them I think they will not hit the back wheels without racks. The hand rail at the back will keep them off the back wheel. The only issues I foresee it that they will be bouncing off the indicators and the RH side will touch the exhaust. The racks keep the RH side a little further away from the bike and away from the exhaust. However as the throw-over main panel is only canvas it can be shortened with a little sewing which will pull the bags up.
I think the bags sort of go with the pack mule look of the bike.