Your posts are contradictory, but it's your bike and your life, so you can do what you wish. Dragging "hard" parts, as in "non-folding" parts, is indeed a hinderance to lean angle. "Proper" body position will reduce the required lean angle for a given speed and corner, but when a crash bar levers a wheel off the ground, the term may take on a whole new, unintended meaning.
From you second post, it sounds like you will need to learn from your own experience.