I've been sailing for 5 years now and in all that time I've only managed a full planing gybe twice.
That was until today.

I was forever going into the gybe fine but losing it when I switched feet. Getting around but not planing. What I tried today was instead of placing my back foot across the board I put it with the toes facing down the board instead. What a difference

Because the upper body naturally aligns with the feet the sail spun around with my upper body when I turned to face where I was heading and when it went clew first was caught by the wind and spun to the new heading no problems. A couple of times I even picked up a little speed in the clew first position when in the past the force of the wind just pulled it out of my hands. Previously I always found that the body position was awkward and just didn't feel right.
I'm not saying what I tried today is "right" but it worked for me. Give it a go you may be surprised.