Thanks for the input. It makes sense about the straight arms and the forward pressure to make the turn. The countersteering stuff is a little confusing at the beginning.
Yes, it is, but also important to do right if you want riding to be smooth = safe = fun
Many of us spend years working on techniques before we feel that we're in control.
If you're able to take classes, that will speed things up. Lee Parks' book Total Control has helped many riders.