Cornering

[VNA]

so Leaning is NOT optional.

There is only one way to make the motorcycle turn.  That is input via yer handlebars.

Leaning is optional.  I can ride to work and back sitting bolt upright if I want.  It ain't natural and really doesn't help.  But it's a fun trick to play with a pillion :lol

But at the end of the day, by leaning you naturally push on the bar end you lean towards.  There is only one way to make the motorcycle change direction.  That is by input to the handlebars.