My driveway is steep and I do a hardright u-turn at the top. I back the bike into the garage every time while seated. The garage is 90 degrees from the drive. My u-turn passes the garage opening on my left (I am passing the opening to while making the u-turn). I have less than 20' to make the turn.
I believe all H-D touring bikes are designed to handle a U-turn within a standard two-lane road. I've done it many times edge-to-edge. I have a CVO Ultra. It takes practice and MSF courses have u-turns and double u-turns as part of the class so it becomes second nature. The issue is throttle and braking.
Here are some simple tips:
--- DON"T use the front brake. At slow speeds hitting the front brake will compress the fork and dump the bike (been there, done that and got to practice raising a bike that is laid over

).
--- DO use the rear brake. Use it in conjunction with the throttle/clutch.
--- Work the friction zone. It doesn't matter if the engine revs a bit; you just don't want to stall out.
--- Practice