Over time I got some tips that I gather here if I don’t do this properly yet and want to remember the tips.
Rolling step
When walking, you are used to first put your heel on the ground and then “roll” from your heel to toes and then you have your foot flat on the floor. Making a step from a flat foot, your heel first loses contact with the floor and only last your toes.
When dancing, this is exactly what you should not do. When making a basic step, your toes should touch the floor first. Then you roll the rest of your foot onto the ground from toes to heel. This is also used to create a movement in the body (hips or shoulders). You use the force of the floor to do this (though that is a bit more advanced).
I should start making it natural to step toe first.
Sidenote: when making a backwards step, it might depend on the speed of the song what you do. It is common to not have your heel touch the ground at all in that situation.
Prepare the follower into the other direction than the turn
When making a turn, you can “prepare” your turn by turning a bit in the opposite direction. It is the same when you want to throw a rock: you first “prepare” your throw by maving your arm all the way backwards. Followers can prepare by themselves, and I am not sure if the leader should “force” this. But it would be good to at least signal the follower to prepare.
When doing a Cross Body Lead Inside Turn, I notice that I don’t do the preparation motion, which is using your right hand to angle her. If I don’t, and the follower doesn’t prepare, they can always make the turn without problems (which is why I don’t properly learn this). It still feels a lot nicer when they do prep.
Bend the knees
When dancing, you should never have your knees fully stretched. That locks the knees and removes any freedom in your legs. It is not needed to bend the knees completely, that would look silly. A slight bend is enough.