Comment by hwillis

Bikes have "rake"[1]- the tilt in the axis of steering. In a bike with 90 degree rake you would always need to countersteer.

When the wheel is forward of the axis of steering, you don't need to countersteer for small turns. When you turn the bars, the contact point on the wheel moves forward and to the side, dropping the front of the bike down and tilting it into the direction of the turn for you. That mimics the effect of countersteer. It's also one of the factors that makes some bikes, like mopeds, easier or harder to control.

During harder turns, the amount of lean created by the rake angle is less than required and you do need to countersteer. It's very hard to notice even when you're actively looking for it though.

[1]: https://ep1.pinkbike.org/p4pb9516905/p4pb9516905.jpg