You often see these two concepts (target fixation and counter-steer) discussed in threads on steering.

Not denying that target fixation is real and operative in some circumstances ... but counter-steer is even more "basic" in that it is solely a function of two-wheel dynamics, not rider psychology. You really do need to steer slightly right in order to initiate a turn to go left.

See the video linked up-thread.

Here's a page from a motorcycle POV which has a "truck pulls alongside" anecdote similar to your "riding parallel to curb" example: https://www.insurance.harley-davidson.com/the-open-road/tips...