Oh hey, an area where I have some level of expertise! See my comments in this old thread. Or go right to the data.
In short, there is definitely a short countersteer before each turn. I have not analyzed every bit of the dynamics, but I posit that countersteering is always required, and is simply ingrained in learning to ride a bike. It’s just not very apparent most of the time due to the low mass of the bike compared to the rider. The weight shift induces the countersteer, rather than the opposite (as with a heavy motorcycle).