Try pushing the the inside bar (low grip) down into the turn. If you look at pictures of the pros you'll notice that the inside arm is straighter than the outside arm.
Pushing the inside bar will cause you to get the outside arm bent, with the elbow high. This is the proper arm position.
Two other things: (1) weight the outside peg and (2) look through the corner.
Inside foot out, foot in - your call. I notice that lately I've been keeping my foot out, bringing it in right before I accelerate at the apex. Your milage may vary.
If you work on these things, in the order that I mentioned them,