Part of why I bought the welder. When I chose a bike to build my second longtail bike, I started with a cruiser that had a steel rack welded to the frame.
But you can do the same thing, make a rack welded to the frame, if you start with any steel frame.
Before I got to that point, I had been reinforcing seat post mount racks with a strut bolted to the rack, with the other end of the strut bolted to the bottom end of the seatpost. This was for full suspension bikes. This was strong enough for panniers.