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We recommend (and as a team personally use) the soft, duffle bag style that has backpack straps. This way you can always easily carry it like a back pack. The soft styles usually have straps so you can compress them down to fit where needed. For sizing, 40-50 liters is a good balance of capacity + carry ability + stowability on a plane.
We always joke that no matter what size bag you choose, you will fill it to 100%. So don't buy anything bigger than you can comfortably carry.
Some examples
- "Basecamp" duffle at Patagonia
- REI "Big Haul" bags