I was so happy when I read your post because I have the exact same problem when I do lunges. If I haven't done lnges in a while, it's soooo hard for me. I also lose my balance, but I've noticed that with time, it gets easier. Once you finally get the strength to do it, all the rest falls into place. Your start seeing your form improve as long as you just keep pushing fot it.
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 Give Truth About Abs a try. It's working really good for me.
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