Excellent report, Morgan; thanks !
What happened in that turn covered with leaves?
Did you just skid?
Full lock is a scary turn just because we lose the ability to balance by steering normally.
For turning at full lock, the trick is to keep applying some rear brake.
After a bit of experimentation, you will find a certain combination of throttle and back brake (no clutch) that will bring the bars up to the lock.
If you start feeling the bike over-leaning, just release the brake and feel the bars come back to their neutral position.
The confidence comes from the certainty that the instant you feel uncomfortable, you will release a little of the rear brake and will recover into conventional steering mode again.