I'm glad countersteering wasn't invented yet when I started riding or I'd still
be confused.

This bike doesn't handle that much different than a
Multistrada, in general, so I'm surprised you had issues with it. I've ridden
on and with the DRZ-400SM quite a bit and it is definitely more nimble-- just
think about turning and it turns. The DRZ is even faster to turn in than my own
Yamaha Supermoto bike, despite mine having 50 pounds less weight. That
said, the DRZ400SM and similar bikes do give up something in stability-- try
cranking it over at 65+ in a big sweeper and it doesn't take much to unsettle
the bike and lose the line. The DRZ is not confidence inspiring at speed like a sport
bike should be, gets twitchy in crosswinds, and feels dangerous when the
rear breaks loose.
The Hypermotard is a compromise between a sportbike and a motard.
Even with that compromise and the relatively long 58.5" wheelbase
and the conservative rake and trail numbers, I believe the HM shines brightest
where the turns get really tight and the surface gets uneven. Coming from
a dirt bike the HM feels heavy at first, but after some days of canyon bashing,
it became a very flickable hooligan bike in my opinion.
After two test rides the HM still feels wrong?... maybe it is not good for you or
your riding style. I was hooked after my test ride and couldn't stop thinkin'
about it... really, it was the test ride that sold it for me. There are some
tweaks to steepen the rake (raise the rear link, slide the fork tubes up in clamps),
and a rounded profile tire helps the bike drop into turns better, but these are just
tweaks and do not radically change the nature of the bike.