I would use my inside leg only going into the barrel to get the arc, both legs in the middle of the turn, then outside leg to finish the turn.
I would go ahead and make him turn again until I get the turn I wanted, then let him come out of it. Also, on your slow work, you could go on ahead and walk to your rate point, push the hip up underneath him again, take a few more eps, push the hip in again, few more steps, hip in, then bring the shoulder around.
Do you have a video?
Pssh.I didn't pick up the wrong lead
It's called a counter canter...
...A very advanced maneuver.