Is it so simple? Bikes, when they turn, don’t rotate on the contact point as a fulcrum- if you turn left, the contact point doesn’t stay still while the bike leans left, as if toppling, the contact point moves right. So the bike’s rotating around a point somewhere higher up, but also that point moves downwards as the bike rotates and leans…
It’s really complex. When the bike is leant it doesn’t do so around the centreline of the tyre, the pivot point moves outwards towards the side knobs. But when a bike is moving and you lean it the front wheel countersteers slightly to pull the contact patches outwards so that the mass of the bike+rider falls inwards.
Something I’ve noticed when swapping between bikes (16″ Brompton, 20″ BMX, 26″ & 27.5″ MTBs) is that the turn is much quicker to initiate on the smaller wheels. Does that mean the moment of countersteer is briefer? Does the bike just need to countersteer laterally by an amount which is proportional to the wheel radius?
Other things to think about – forks have offset so when you turn the bars the centre of the wheels are no longer in a straight line which passes through the BB. Does the BB drop related stability interact with the gyroscopic wheel force? That’s something where the axle height definitely matters.