In my experience most often it's due to uneven distribution of weight in the bags. That said, my voyager did the same thing off the showroom floor w/ empty bags. Techs said all normal and to use both hands....
Initially I chalked it up to the weight of the exhaust header pipes but the rear wheel was ultimately slightly out of alignment. It went away after I realigned the wheel when I fixed the over-tightened drive belt.
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