The other thing that just drives me nuts is the "counter steering". Now that's a hard one to get used to! It just feels so unnatural!
You counter steer in the dirt at speed every time you change lanes on a two track or power-slide thru a turn.
Quit thinking about STEERING and think of it as pushing that side of the handlebar Down Into the Turn, its all in the handlebars.
Practice Quick lane changes on your own side of the highway, dodge potholes, tar strips, dead critters.
On deserted roads (I use the Whole Road), one can make curvy roads out of straight highways & I use my boot toes for curb feelers and try to scrub the Full width of the tire tread. Which on a KLR, I just can't quite accomplish. I can do this for miles at a time in the wide open spaces of WY.
Next take your Left hand off of the bar & practice with only your Right Hand. It truly becomes counter-steering. Because you Push down & forward to lean Right into turns. And Pull up & back to lean Left into turns. I have a throttle lock, so I can practice with either hand.
I practice lane changes (counter-steering) mid-corner, some curves have enough length to zig-zag numerous times. I practice in the steady wind & gusty winds. I even practice during rainy rides.
You do it in the dirt, rocks, mud & sand, every time you ride. You can do it on pavement. Just keep your feet On the Pegs.