braking in a corner. I have been trying to purposefully learn how to take corners faster in an effort to not be afraid of leaning the bike as low as possible. However, in a panic situation, I don't really know that I won't panic and do the wrong thing.
The V-Stroms don't lean even 40 degrees off vertical before the pegs touch. At that lean angle, the sideways acceleration is about 0.84 g's, and on dry pavement with decent (not old and hard) tires, there is about 1.1 g's of side traction available. [a] This means that when you touch the pegs, you've got about 30 percent traction margin absent gravel, leaves, oil, etc. On wet, non-oily pavement, available side traction falls to about 0.7 g's [a], so touching the pegs is clearly counter-indicated then.
[a. My traction figures are taken from a publication, "The Pneumatic Tire
", published by the U.S. National Highway Traffic Safety Administration. I have translated coefficients of friction to g's because it's valid and easier to comprehend. See figures 11.39 (wet) and 11.43A (dry).]
Why should anybody care about this sort of physics? I cared because it made clear that the bike is well short of sliding when the pegs are not scraping hard.
I gainsay nothing others have said about confidence. Ultimately, with experience, you'll understand traction margin at a gut level. The physics is just maybe a shortcut.
One thing I found very worthwhile in "The Pneumatic Tire" was seeing how gradually traction falls off on the backside of the traction versus slip curves (references in above footnote.) It is gradual enough to readily explain why we can feel some sliding on tight turns without the bike just suddenly slipping out from underneath us. What this means in practice is that it is not reckless, on good, known and dry pavement, to gently approach the sliding threshold and discover how the bike behaves there. (This should, of course, only be done someplace, such as a track, where a lowside crash would mean just a scraped bike and gear rather than serious injury.)