There's no doubt that loading a big/heavy bike is a bit of a challenge. But it's certainly do-able, and a little practice makes perfect. I'm carrying an 850lb BMW with a very high CG (K1200LT) and have a 3210 (short ramp) so I have probably as much of a challenge as any.
I've gotta say that Duane (porthole) is EXACTLY on the money. His three tips are what I've found to be the keys. But I use one more little trick. When unloading, I stop the bike BEFORE the rear wheel leaves the ramp (i.e. while I can still put my feet on the ramp to steady the bike. Then I have my wife grab the tailbag rack, and on a "count of three" pull me down and off the ramp. This minimizes the time I'm hanging my feet in mid-air and backing down (probably the spot where a drop is most likely), and she's in position to help keep the bike vertical during that transition.
I'd also point out that you should be controlling speed going INTO the garage with the clutch, not lugging the engine, and covering the brake all the way in. Keep revs up, and slip 'er on in. Just like a tight U-turn. Takes a bit of practice, but is certainly not too hard.
So: Practice, then practice again, till you're comfortable with the process. You don't want to learn how in a bad campground with loose gravel and a downslope behind the rig.
Hope it goes well
Don Hutchins