I mean no distrapect but perhaps it was a rider error or at least a rider not recognizing his limits or the limits of his motorcycle. Riding for many years doesn't always translate in good skills, reflexes, and miscel memory. I'm thinking you may want to give some thoughts to refresher training under the eyes of and experienced instructor.
I've been riding for 55+ years, in retirement rise 20-25k miles/yearand was an MSF instructor/coach for several until I moved to Florida 14 years ago. Now, every few years, I take an experienced rider course to keep my skills sharp and to rid myself of bad habits that I've acquired.
Ya can never be too skilled, too safe, have too much money, or too much sex.
Paul