Motorcycle/bicycle riding should be the same way. Instructions are OK, but the focus should be on learning by doing it.

I have 35 years experience riding bicycles on paved roads and bumpy dirt roads.

My bicycle is lighter than I am. A motorcycle is usually heavier than the rider, so motorcycle riding probably feels different and my skills might not be applicable for motorcycle riding.

Counter-steering is important. Now it's like a reflex. Sometimes I swerve to avoid a rock and notice myself counter-steering without even thinking about it.

My first mountain bike had no suspension. It was a good learning experience. It taught me to flex my arms over bumps and avoid "Stiff arms".