With apologies for reopening an old thread, here's a video of our entrance to West Stockwith earlier this month.
I had turned in about the same place as STALWART, but I turned to starboard to put the bows in slower moving water. I then had to wait for a couple of minutes upstream of the lock, to allow the other narrowboat into the lock first, once it had been emptied.
As you can see below, my GPS thought that I was over a mile off course, and also that the Trent starts at Gainsborough. [To be fair, I was using a chart showing the whole of the UK, and for a purpose that it was not designed for!]