Re the knee... Look at your foot. It's still parallel to the centerline of the bike.
Try putting the tip of the peg under your toes and rotating your foot so your heel is hard up against the heel guard.
Observe and compare:
Go sit on your bike and try it. It makes getting your leg out MUCH MUCH easier.
I also see you doing what I'm doing with your shoulders (see the post above... the view from the rear). You're tense across your upper body and holding yourself up with your arms. Try to drop the inner shoulder. Sticking your inside elbow out and doing the "screwdriver grip" thing will help.
I'm finding it hard to put this into practice... I keep having to remind myself.
When I've gotten it right, it feels really different... as if I'm hugging the bike, and it really feels like I'm underneath it. (I'm not, but that's the sensation.)