And I know I lean a lot but also know that my body position is somehow wrong...
Don't you think this might be the fundamental issue?
While it's possible there's something not right with your bike, like improper suspension set up for you - many times the problem is *us*. The bike doesn't change, we do. Bike doesn't care - there's plenty of videos of people getting bucked off a bike or falling in some other way... and the bike stays up and keeps happily going around a turn without it's human cargo problem.
And perhaps, them dragging a knee and you not is a sign that you're doing something right, where they are not. Putting a knee down isn't a magical indicator that everything is right. Again, plenty of video and photos floating around of folks with a knee down and crossed up upper body, stiff arms and other issues.
Like this guy:
In short - dont get hung up on touching that knee. Figure out if you have a body position, or perhaps even suspension set up issue and correct that first
For humilities sake - here's me at a track day
- I ran the tires to the bloody edge and was sneaking past folks on bike with 2-3x the horse power in the bends and I *might* have just skimmed, skimmed a slider.