I've been playing around with the Master Yoda position on the S10. My S10's setup isn't great for it as I'd made adjustments to deal with pain and numbness from the stock seat and handlebars (it's a 2016 S10). So now I've got a corbin seat and 2" adjustable Rox Risers.
What I like about Master Yoda is greater emphasis on core balancing. I'd found with the standard sit up and beg, my tendency was to bend at the waist, not the hips. For now I consciously need to work the the technique, but it's helped quite a bit. I also found it difficult with the seat in the high position. In the lower position, I'm able to use my knees to grip and get my thigh muscles more into it. I think the lower seat position has the effect of changing where the pegs are in relation to my torso. I didn't realize what I was missing until I went from my '87 K75S where I was trying the technique back to the S10. The S10 felt ungainly until I lowered the seat and changed how I used my core/knees/thighs. Now I'm taking turns with more confidence (faster and deeper lean).
I would say that on an S10 you can't take the literal Master Yoda position (as described in the link) and apply it directly. But the principles are there and I think beneficial. I'm still sitting up and begging, but the base technique keeps my back and arms in a better position even when begging. I'm thinking of removing my risers and seeing how that changes things, but for now I'm just trying to apply the general theory to set a foundation/habit to experiment from. I also like to be able to stand and ride, which the risers are pretty key to making happen.
In general, I'd encourage some experimentation with the general theory on the use of your core and bending at the hips. Maybe lower the seat, though I suppose that depends on where you are starting from and the length of your legs.
Good luck,
Eville Rich
2016 S10
2015 WR250R
1987 K75S