Backstop,
Take a look at this clip.
Watch how he moves out but does not get "out over" his front leg. He moves in such a way that he keeps his weight in between his feet.
When he shifts he moves to the INSIDE of his front leg. As you shift, take care to not TRY (force) getting up on your rear toe. Let the final commitment of the swing and your hips rotation do that for you.
Put your cursor on Morneau's head.
When he reaches full foot plant his head stops translating forward and rotation is completed.
As a bug squisher, you will rotate, but as you said "will have problems with off speed". Then when you try to "get off your backside" you end up in a lunged position because your head does not stop moving when your stride foot lands.
This is tough to feel but "going forward while staying back" is a cue. The "how" is even tougher.
Here's what I would ask you to do;
1. Depending on where you have your hands and arms to begin with--- either feel them holding steady or slightly moving back as you start to shift forward.
2. While shifting,
Feel the majority of your weight staying on the inside of your back leg / on the instep of your back foot.
3. Land on the inside of your stride foot.
Swing.
If you execute this well you will complete rotation that may already be (somewhat) underway during the shift. Your rear foot will move up onto the toe. You may "fall back onto the heel",,, as you "recoil".
Here is one more clip where you can actually see the feet and hopefully what I'm trying to describe for you.