So you need a bike with a tall stack dimension and a short reach dimension.  The Salsa Fargo is the benchmark for this. Flat bar bikes have a longer reach dimension so be aware of this if comparing drop bar bikes with flat bar bikes.
Jones geometry is a little unusual but you will also be able to achieve an upright position.

I was looking at the Fargo and it does look pretty awesome. I'm concerned that it comes with drop bars (not my cup of tea, and don't the drops defeat the purpose of an upright geometry?

I'm wondering if putting jones bars on a fargo would make sense. I feel that a bike designed for a certain type of bars should probably keep similar bars right?

Thanks! I had not put much thought about a drop post or racks yet but what you say makes sense I think. I've purely been looking at frame geometry so far and I'm pretty settled on a rigid. Thanks again for the info. I'll definitely think about the post and rack.

I'm new to bikepacking. I need a bike and I'm looking into a Jones LWB. But there are so many other options. I was also thinking of the SURLY ECR or Bombtrack beyond+ADV.  I want a comfortable bike where I will sit more upright than a standard mtb because i get a stiff neck, hands and shoulders. Any advice?