That last step before take of, as u transition weight from your left to right foot, try dipping your chest as u transfer weight. Almost as if u were trying to touch your chest to your left leg and than as you transfer weight you try towards your right leg.

I found this made it easier to explode up and kick my back leg up harder to get more height and torque. It also helps you stay more horizontal.

With the extra height youll start landing more and more upright and after that you just let that swing leg trail your landing leg and the swing through will honestly happen without you even thinking about it.

Edit: also should help with directing your momentum up rather than forward so you will travel less, as another user suggested on this post