Not sure exact change you need on seat or tank. I've found putting those grip pads on tank helps. I learned riding-style from '80s which doesn't seem to be needing "locked in" positioning of modern style. This is how I go around corner:
Link to original page on YouTube.
Also slow-speeds in parking lots doesn't have as much centripedal force you would experience on track at higher speeds that help you re-centre on bike coming out of corner.
Perhaps doing figure-8 drills would help you with reset?
Link to original page on YouTube.