Good advice from Young at heart there. I’m still learning myself but turning is going pretty well for me these days. Things that seemed to help:
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Use the space you have. If you start feeling shaky in the middle of a turn, let the arc run wider but keep on pedaling. If you try to slow down to hold a tight line, you’ll UPD every time.
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Throwing in some sharp corners in the middle of turns is fine if that’s what it takes to get around. Tracing smooth steady circles is a nice goal but make stop signs until you can if that keeps you going.
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As an exercise, find a nice street without a lot of traffic and practice making lazy S-curves back and forth. That way you can bail out of a turn any time you need to and still keep on going down the road. Make each arc as deep as you can and work on the feeling of turning smoothly to one side and then the other.
Lately I’ve been working on riding the tightest circles I can as fast as I can for as many times around as I can, literally until I’m dizzy. It’s fun!