I can't recommend Banjo Bros enough. I have the Market Pannier and the convertible backpack. It's high quality and, for me, affordable.
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Just one is fine, and has never thrown me off balance. I love Ortliieb panniers (love the build quality), but really anything will do if you like and it works for you.
Thank you everyone for your recommendations!
You can get away with one, and I certainly do most of the time. The 2nd one really only gets tossed on the bike for grocery store trips and touring.
Edit: more thoughts
For commuting purposes, it can be nice to get one with organizer pockets, just so keys/wallet aren't always disappearing all the way to the very bottom
I have two but usually only use the drive-side one, never had a problem with balance.
I got a Ibera rear rack on Amazon "used very good" for $26. It was perfect, no missing parts. Still some available at this price as of posting. Also got a Rhino Walk pannier on Prime day for $44. Not sure how often they go on sale. I've seen them used for backpacking and touring by a lot of people. I'm very happy with it, waterproof, good quality, good finish.