Your forward stroke is fairly low. Try a higher style. It is more efficent and may help with the side to side motion (or it could be the boat -- the shorter, the more prone to tracking issues).
You are getting the idea on the low brace but I think are a little too enthusiastic about rolling the boat over. Here's one way I like to practice. Start with your paddle held horizontally in a nuetral position. Slowly lean your boat over and continue to lean farther and farther. You will reach a point where the boar trys to capsize and then slap down hard on the water on that side while twisting with your hips. As noted, the head follows -- not leads. I like this exercise because it helps you feel how far you can lean until capsize and the capsize itself is always a suprise that hones your reflexes. Mostly, don't forget to have fun because technique will come with time.
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