Btw, this is an interesting video that I used to think had to do with understanding counter steering, but have come to believe that it has to do with this discussion.
The common take on this video is that the rider didn't understand counter steering and tried to direct steer away from the truck, causing the bike to lean towards the truck and then he reacts to that by steering towards the truck, and the cycle repeats, till he hits the truck.
However, I don't think this was a counter steering issue at all. I think what is actually happening is that the rider is afraid of the lean he takes on when he does turn away from the truck, causing him to straighten up and continue towards the truck, and so on. A battle between his fear of lean and fear of truck.
I once came upon an entrance ramp going too fast, started to take the curve, felt like I was going too fast, straightened up, now not turning enough, turned more, now leaning too far, etc. I made the ramp ok, but I was wobbly, like this guy.
Once you get steering and balance on a motorcycle, it is pretty damn automatic, like walking. So I don't think this rider had a steering (or counter steering) problem, he had a fear of lean problem and this situation called for quite a bit of lean that his brain just wouldn't accept, even though the only other choice was to hit the truck.
You also see this with riders going off the road in a curve, even though they could have turned/leaned sharper.
I have never actually seen someone not counter steer (steer) correctly, as in wanting to turn left, they turn left and fall over on their side to the right. Unless the person has never ridden a bicycle in their life. I think that becomes wired really well. If they are not steering sharply enough, it isn't that they don't know how to, it is that they don't want to. Their brain just won't let them.