I really struggled with this until I got the R6. I used put 100% of my weight on my inside leg and would get wore out physically very fast. With the R6 its just natural to have the outside knee engaged with the tank to share some of the load.
Yes you need to hook your outside leg however, your rear end feel comes from the foot pegs, not your butt or outside knee. You need to have enough pressure to be engaged with the bike and feel whats going on and make throttle adjustments if necessary. You also want as little weight as possible on your arms, you will make your arm stiff which will lock up the steering head and the bike wont feel like its turning. Also taking weight off of your hands will provide front end feedback and help the bike turn better.