Here’s another great video from Adam Riemann on how to set up your bike to improve both how it handles off road, as well as how it fits. He covers handlebar position (hint: don’t roll the bar forward), fork cap position for ideal rake, preload/damping/compression, etc. And while he doesn’t cover it in this video, another game changer for me was to move your brake levers toward the center to the point that your pointer and middle are at the very end of the brake/clutch lever; that’s where the leverage is (and MTBs are like this from the factory).
There are endless specialists who do bicycle fits, but it just doesn’t exist for motorcycles. I found this video more helpful than any other ADV-focused fit video I’ve seen for getting a handle on practical bike fit concepts.