Here's how I have given my knuckles a break:
1) With 63k on the odometer, got the steering coupler, aka "rag joint", replaced. Mechanic said that it was an accident waiting to happen, he wouldn't even road test the brakes until it was fixed. Drives much more like a car now, no more constant correcting with the steering wheel.
2) When I feel panicky, I shift my focus further down the road instead of immediately in front of the vehicle. Also, make a quick check of a side mirror to find the white line when I am worried about where I am in the lane.