When I was a kid, my brothers and I would have "slow races" - mark out a 20 foot course, last one to finish wins, no fair zig-zagging. I think that might help. Honestly, it's like asking someone how to figure out how to walk better; I have no idea how, and I didn't take any structured approach at it, I just did it for 40 years, and here I am.

It is a serious issue though. Most bicyclists I see, even those in kit, are what I'd call "all over the road". I like to be able to ride on a 3 inch paint line and stay on it for hundreds of feet at a time, it's a good way to test myself. Also I ride over a lot of gravel and I need to be able to weave around and hit the 2" wide high spots between the almost-solid potholes on parts of the road.