Comment by NLips

I'd like to especially highlight your 'at speed' point here. It's often claimed that _all_ steering on a bike requires countersteering, but that is false. Countersteering allows rapid change of direction, but if you're going in a straight line, then lean left and gently steer left (or just lean left and allowing the front wheel to steer itself), you _will_ go left, no countersteering required.