The one piece I don't see you mention is what do you do with your right hand/arm? The key IMO, is to get momentum going. You do it one quick "explosive" move...
I stand on the left side of my bike facing the bike. Left hand on handlebar to steady it, and right hand on the passenger peg extension used for mounting the OEM panniers.
I put my right foot on the centerstand foot rest. I push the centerstand down till it makes contact with the ground. Then when I'm ready, in a quick motion and with authority, I push down with my right leg on the footrest (using my weight too) while lifting with my right hand/arm on the passenger peg, with a slight motion to the rear.
Absolutely correct. The key is to lift with your right arm while pushing down with your foot. Actively think about creating distance between your right arm and right foot as you lift and separate. (reminds me of a bra commercial)
I am also 5'6" and 160 and can put the bike on its center stand with relative ease.