When you are at the max lean angle and generating as much grip as the tires you have allow in a steady-state, long corner, how do you exit the turn? I think it is theoretically impossible.
You counter-steer into the turn to bring the bike up? That increases the lateral load on tires because you momentarily make the center of mass of the bike+rider system to make a turn, so you fall.
You accelerate? You fall.
You decelerate? You fall, no matter the method. Just shutting down the throttle a bit would increase the lateral force on the tire espically over 45 degrees of lean angle.
Pushing down on the outside peg? The outside peg pushes you up, and since you are leant over, when you go "higher" your center of mass tries to take a tighter turn around the center of the corner. Since "up" is "in" when leaned over. And also the force on the motorcycle by that downward force on the peg increases lateral force on the tires and well, you fall.
Any upper body movement you make that would be of any benefit, could also have been used to take the corner at a higher speed.
This really bugs me as a thought.
Am I missing something?