The best way to do this for new riders is to push your shoulder into the turn.
It’s hard to explain without showing someone psychically. But lets say someone isn’t as confident into right hand turn. ala Me:lol
If you push your right shoulder forward a little into said turn I personally find this keeps me from putting any stress or input into the outer handle bar. This move should be used during an aggressive lean not durring a slow turn.
I thought this also applied to turns. I can’t say I’m comfortable with my kibbles and bits again the tank while into a lean.:rofl
With the design of the R6 tank I find my leg is locked in position best with a little room between the tank. My biggest issue personally is breaking to early & not getting half my ass off the seat enough.:lol