One simple thing that may help you to lay the power trench on the heelside, and feel like you are a train on a track, is to drive your rear knee 'HARD' towards your heelside edge...and towards the nose. I ride in walk mode with 6 deg rear cant, always flexing forwards on heelside rails. Additionally, I do reach across my chest as carvedog suggests with my "wrong" hand. Works for me, perhaps it will work for you.
Pete