RE: Does gyro on rudder work against aileron?
You are mistaking yaw with yawing out of balance. Yaw is any rotation about the vertical axis. Clearly when a plane changes heading there is a rotation about the yaw axis. Yaw is not just when yawing out of balance. Also you are confusing yaw with side force, the "seat of your pants" feel is sideways acceleration due to slipping or sliding whilst not yawing enough or yawing too fast.
H