That's great Will,
Lowering your CG is the fastest way to quicken turn in, increase stability and confidence. The easiest & smoothest way to lower you CG is with your upper body. You don't really even need to lean towards the inside of a turn, if you just sit still in the seat but lean forward you will do two things: unlock your elbows(unweighted arms) and lower your CG. You should feel an instant improvement in feel and confidence. Adding a lean towards the inside(along with leaning forward) will lower the CG even more and the lower the CG the easier it is to transition the bike! :laugh:
Hanging off with you butt is an excellent way to achieve dropping of the CG, BUT it takes much more coordination, muscle groups and time to do so and if you are not proficient at it you are More likely to upset the bike then help. This is why I suggest most riders(street) focus only on upper body movement as it achieves similar results, is easier to learn and can be done smoother with less practice then hanging off.
Once you become proficient in this technique (UPPER BODY) weighting, then you can add lower body (advanced technique) leaning, if needed!