As others have said, it'll come with time and practice. Probably not much time and practice either. I was wobbly when I started out, but was confident and sturdy within a couple of weeks.
Bear in mind also, that you don't necessarily have to take your hand off the bars to look. I tend to relax my right arm a little and just drop my shoulder, then it's a quick glance round. You don't have to swivel your head like an owl as you only need to be aware of something being there - your peripheral vision is sensitive to moving objects. Don't feel like you need to record the whole scene.
If you're looking round on the right side, take your right hand off the bars and place it on your right thigh before you turn your head. If you leave your hands on the bars and don't relax your right arm in some way then the action of turning your head and shouders causes you to pull on the bars and swerve.
Do people look over their left shoulder before a left turn (the 'lifesaver')? I got into the habit following cycle tuition although I can't say it has ever come close to saving my life.
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