I'm not sure this is going to be much help to you, but, all the same!!
I have 2x Altura rear panniers. Not too unlike these: http://www.evanscycles.com/product.jsp?style=12315 And I pretty much always have 1 on my road MTB at any time.
When I first used them I suffered from the same problem, my heel hitting the bag. But, I found I was able to adjust the positioning of the lower hook, thus moving the bag back and giving just a shade more clearance to my heel.
I've not been too impressed with my bags (they're not the ones I've linked too, as I've had mine several years). Mine are just too big for commuting, perfect for runs to the shops, though. And, they're not as waterproof as I'd like. Well, they're not waterproof at all. Even with the rain cover on them.
That said, they did me well on the C2C, as long as I stashed everything in black bin bags!!
Mind you, I could ride all day (and did on the C2C) with my panniers on the bike. Not sure I could say that if I were carrying all the weight directly on my back.