I am looking at eventually doing cycle touring, but am going to start off with trying cycle camping some weekends to learn the relevant skills while I build my base miles. I have 2 bikes that I could set up for this purpose but not sure which one would be best.
Could you please advise from your knowledge and experience to help me avoid making too many beginner mistakes please? I am considering getting a frame bag for more balanced weight distribution but new to this and confused if that is a fad or not.

1) Specialized Allez with newest Tiagra (36-52/11-32) and Ultegra 6800 wheelset. Tyres are currently Vittoria Rubino Pro 25mm (changing to Schwalbe Marathons when these wear out, 25mm is maximum clearance for handling mud or gravel). I have a rear rack mounted by the quick release and the brake caliper mount and am considering either adding clip-on aero bars(to rest arms and stretch back) or handlebar bag (Topeak Tourguide). This bike is comfortable to ride on all day, so far I have managed a maximum of 70 miles in a day on this bike.

2) Voodoo Aizan 29er. I have a rear rack with proper mounts (25kg limit). Can't remember full gearing but has a triple and could ride up walls with luggage. I could put the aero bars or handlebar bag on this bike also but will need to get a new saddle and maybe seat post as gets uncomfortable after some distance. Has hydraulic disc brakes. I have only reached 45 miles in a day on this bike due to the comfort issues. Current tyres are Continental XKing 2.2 inch.

I have tried researching but seem to keep finding articles simply geared to sell me more bikes. If you have any lists or more specific topics I should research please comment with them.