Relax as much as you can, most of the time, especially on loose gravel, small stones the bike will wriggle like a snake but essentially keep going where you want. Lower your tyre pressures, keep speed respectable, not too fast & not too slow. I regularly 'green lane' on my XTZ, although it can be a handful at times. Did the coast to coast off road with the Teesside and North Yorkshire TRF this summer, made it to the penultimate lane before the crap tourance tyres and my stupidity met head on and left me with a couple of cracked ribs ! Still, it was fun up to that point