I don't think gyroscopic action has much to do with anything other than how hard it is to turn the bars. The countersteer is to set up lean. Think about it, If you just go into the turn balanced upright on the line you were just riding and just turned, you would be steering the bike out from under you. Left turn? You better set up the left lean before you steer that bike left. To come out of the turn, you steer the bike back under you.