Ever tried driving a car in reverse, with a trailer attached? To make the trailer go right, you steer left. Then, after the trailer is turning, you steer right, to maintain the turn. When you want to end the right turn, you steer right a lot. That makes the trailer steer left, and so it straightens up. You then steer left to preserve the straightness.
Works much better when you just do it and don't think about it, in my experience.
I understand the mechanics of it. Has that helped me? Only in so far as it makes sense of the cock-eyed experience for me. Knowing that the experience makes sense mechanically, probably makes it easier for me to relax and just do it.
But it doesn't help me to do it, when I am doing it.