Check these two out on a factory bike with just some race pads, set sag and usual fork adjustment. 2-3 seconds off their race bike times. Yes, these guys are body steering the bike because counter steering while leaned over is asking the tire to do opposite things. While gyroscope precession will roll the bike opposite of bar input, the tire is also now pointed outside of its balanced arc/path which reduces total available grip. Be careful doing this because you will tuck the front. If the bike wont tip in, you either need to drop the front end more or look further around the corner. If you are paying attention to lean angle with peripheral vision, you'll never hit the angle. If you look well through the turn and think about going faster, you'll start dragging knees and elbows without even trying because the angle is coming to you, because of speed.
Also, riders at this pace are professional athletes, think hundreds of single legged pistol squats a day and probably as many miles climbing hills on a bike. The pegs are high because they are insanely flexible and it allows a shorter rider to get further off the bike on the opposite side. I have a Fireblade and that thing from factory makes my R6 look like a sport touring machine! That bike is also way above my ability.
The OEM's have to gear a bike towards the masses, that is what sells. Honda has a CBR for the street/canyons and homologated version RR-R for track work, club and pro sanctioned racing, not a single common part between the two. I wouldn't spend too much time on the nuts and bolts at our level, just more on flexibility, strength and stamina. Again, the video below on stock production bikes! I promise you, these two are not thinking about rake and trail.
No Ohlins!