One of those pop tents that packs into a circle is always going to be difficult on a bike. I am sure it could be strapped on especially f you don't have a top box but a a tent that you just stuff into a sausage shape and stuff it into a pannier or a top box or into a bag that easily straps down has got to be easier.
Personally I just stuff our tent into one of the panniers along with everything else associated with it and a tarp. I don't fold it or use a bag, just straight into the pannier. Two Helinox chairs go on top along with a few other bits and bobs. The other pannier has the kitchen and food. Big roll bag on the rack has the bedding and a other soft and light stuff. Clothes in a dry bag each on top of the panniers. Tank bag for a few personal items, sweeties and things we buy en-route. Its a 'effing heavy bike with all that on.