"Countersteering my ass "
Exactly. Back when I used to go faster than doG, I would have my bike leaned over at the very edge of traction, and if I needed to make miniscule changes to my line, I would use my ass. Clinching and unclinching, as appropriate.
I remember one time I was so close to crashing, that my ass was up between my ears, my leathers were wet in one particular spot, and the only thing that saved me were a few well placed curse words.
Those RD350s were the real thing - real beasts. Not like the trash they ride nowadays.