Don't forget that what you're seeing is probably the second half of the day in the Gymkhana, or even the second day. When they arrive they get a couple of hours practice before the events start to learn the course, and get used to riding in that manner again.
We are required to complete two days re-qual every two years in Queensland, and although we don't do things this complex, once you get used to the counter balancing and not looking down at the ground, but look where you want the bike to go, you would be surprised at how easy it is to complete these tasks. When we rock up the first hour is simply used to getting the bike over on those angles again before we start getting through the cones/poles. The harder stuff is when they mix up high speed with this stuff. A lot of these riders are also instructors that will do a week of slow speed stuff before the competition to get their skills up.
You are also right about not having to pay for repairs if it goes wrong giving you a bit extra confidence. I completed my original training on an ST1100, and I won't do a lot of the things on my own, that I put the work bike through. There are a number of very simple ways to practice these manoeuvres for anybody interested.
I will admit but that it feels bloody fantastic when know you can complete these courses when you do it.
