"...Whenever I go hiking, my rucksack is always about 20kg and after a while I don't really notice it..."
If my pack ever gets close to 20kg then that weight is mostly food and/or water.
How old are you? The less you carry now and the more sensible you are about your load the more you will be able to carry in later life. That might seem like a long way off but it isn't really.
When I was a lad, I would carry huge packs that weighed a ton, happily my desire to walk longer and longer distances convinced me to cut down on pack size and weight. Otherwise I probably wouldn't be doing as much walking these days.
"...I can run with 20kg on my back !..."
Try not to run with that much weight on your back, your ankles and knees were not designed to take that kind of stress (are you running from fast or slow zombies?)
"...The farthest I've walked with this weight is 112 miles..."
The furthest I have ever walked with twenty odd kilograms on my back was a little under two thousand kilometers.
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