I do look ahead, I'm a super scanner so that's not a problem. I guess practice will be the key. I have three big ones near me, one tall, steep winding one, one tall and insane steep, and one long with a little bend, I'm not too bad on the last one.
Every time I wobble I swear I'm going to go down. I don't even fall much on my bike, so it's not like I'm accident prone. I went clipless last month and had one fall, from a dead stop, and since have navigated path, street, and city riding with no problems.