I have not leaned mine over far enough to scrape the pegs, although I feel like I have and friends riding behind me say that I just barely make some corners without the pegs hitting, and have often thought that it would scare the crap out of me too. Im glad you made it without freaking out and giving up. The first time I laid my bike down I went into a corner too fast and didn't feel comfortable really leaning the bike hard so I drove through the corner into a field, I was new to riding and it was a really heavy bike. Now, that I have been riding for a couple of years and have a much more manageable bike I know that if that happens again I have to trust that I can lean my bike even more than I am and I can make the corner. I have recently found counter steering to be very important in this kind of situation. Im not sure how I was steering before, but now in a sharp corner, say to the right, If I push slightly (Like turning left) on the right handle bar and lean right it feels a lot more stable and I feel I can push it harder than without counter steering.