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Being able to roll properly is important to me, and poise is important
Yes, and, yes. Unfortunately, for a relatively low level build (40 Endurance), it is difficult to achieve both. This can be solved with Wolf Ring, and/or, Havel's Ring. However, then you miss the opportunity to equip other rings which are more useful for PVP.
Going for a lightweight high poise build, as you desire, you would in my opinion be best off with:
Gargoyle Helm No Armor! (hopefully you have a beautiful chest) Giant Gauntlets Hollow Soldier Waistcloth
Total Weight = 14.7 Total Poise = 36
This is one solution that Cvdf3 previously posted, and is the most efficient by my calculations. It provides enough poise to tank certain strikes, and allows you a small amount of remaining weight while still being able to FAST ROLL. I recommend you use Ring of Favor & Protection to allow you a bit more leeway in equipment weight so you can have a decent shield, weapon, and magic casting tool and still fast roll. Alternatively, raise your endurance slightly until you can equip the shield and weapon you desire.
Armor with the highest poise/wt ratios are: (Listed as Ratio, Name, Weight, Poise)