Protection against saddlebag straps How can I protect my bike against abrasion and scratches from bikepacking saddlebag straps?
It is mostly for a full frame bag, like the Apidura one.
There are several things that I can imagine to achieve what you want.

Use frame bags that have &quot;grippy&quot; straps, such as those with silicone strips or similar. This should suffice unless you ride in very aggressive conditions. But in that case, your bike would become scratched all over the place enough to not worry about just the effects of the bag.
For simpler velcro straps, you might put a protective layer between the frame and the bag. There are clear coat frame protection sets, both generic and bespoke for specific frames.
You can be inventive and create your own sort of protection. Wrapping a short section of inner tube, or applying a run of duct tape would work. Or you can apply liquid silicone to add grip to the back sides of existing velcro straps.
Certain frame bags are actually bolted to the frame at the connection points, instead of using a band to wrap the tubing. These are mostly custom bags for specific frames.