My wife did the exact same thing and fractured her ankle riding the Simpson desert, she rode to Medical but it was painful.
A really nice family drove let her jump in with them back to Melbourne and another traveller who worked for a transport company got the bike shipped back for $375 AUD which was a road train to Adelaide, truck to Melbourne....people generally like to help...
Lesson learnt for us, dump the weight, .....give it to hubbie, or dump it all together, if the bike is too big sell it buy a smaller local one and continue trip......the photos look awesome and the experience fantastic....people are very nice and generally want to help....be a shame to stop.
My wife had no bags on when it happened so it was the bikes weight the did the damage...no sure hard or soft bags would make a diference.
I have a DR as well, crazy the mechanic drama with them, put me off buying another......