Good content. It highlights the next-level skills that must be mastered to take a corner as fast as possible. Some notes:
Visual skills: cornering is often presented as a physical skill, but it's more a visual skill as well as one of judgement. As you've highlighted, a whole pile of sensory inputs must be taken into account. Apart from decreasing the arc, and hence, radial acceleration, a wider arc affords a better sight-line deeper into the turn.
Traction circle: this is often discussed in motor sports, but not in cycling. The traction circle, which you did not name but displayed in your content, is the maximum tractive force in any one direction. Forward acceleration is almost never maxed out as a humans never produces enough power to break traction on clean dry pavement, backward acceleration can almost always be exceeded by hard braking (i.e. skid), and maximum lateral acceleration is what the fast rider tries to approach at the apex. It doesn't not take much convincing to show the fastest way around a corner in an ideal situation is one where the rider is on the edge of the traction circle at any point in the turn. The approach into the turn is fast and hard on the brakes with most braking on the front, and as the rider leans deeper into the turn, braking is progressively lessened and balanced to transition into radial acceleration, then after the apex, the rider completes the arc and pounds hard on the pedals as soon the the bike is upright enough. This takes a lot of practice, which leads me to ...
Practice: there's no real shortcut to learning this. You can't learn where the limits are until you go over the limit. This limit is precipitous, and usually results in a crash. Ouch. Actually, there is one shortcut: learn from someone who has already learned it the hard way. By following a skilled rider, a follow rider can learn positioning and lean angles faster than trying to sneak up on it from solo trial and error.
"Counter-steer": you gave the impression that this means steering into the turn, but it's actually the opposite. A cyclist imperceptibly steers away from the apex to initiate a lean into the turn, which then causes the bike to start the turn. However, this term is really just another word for balance for single track vehicles: you never hear terms like "counter-skate" or "counter-ski" even though it's the same phenomenon. Micro "counter-steering" is done continuously while riding a straight line.