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Yes and the higher the speed the more you should lean. The reasons for this are:

when turning centrificul force will be acting to throw you off the bike, leaning lessens the chances of this happening

ATV's have a high center of gravity (especially with you on them) thus they can be somewhat tippy, leaning into the turn helps reduce this tendancy

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Q: When driving at ATV do you lean the direction you want to turn?
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