Tina Gaffa tapes a tyre lever from the rear grab handle to the side panel to keep the panniers from touching the exhaust, it works very well and give you somewhere to store a tyre lever....but that's women for you, they can multi task
Not sure if that would work on the DRZ. The ebayer put the OE one back up for sale but I've since decided to get a Wolftail and do without wide panniers.
PS) Using lots of the routes you give me over the phone. Cheers