According to the CDL manual, how should a driver perform a quick turn to avoid a crash and then get back into the original lane?

49 CFR 383.111(a)(14); AAMVA CDL Manual (nhcdm.pdf) Section 2.17.1, pp. 2-33 to 2-34

Steering around an obstacle is often faster and safer than trying to stop, but only if the return to the lane is handled correctly. Edging back in gradually can make the tires grab and throw the vehicle out of control, which is why the manual treats the steer and counter-steer as one deliberate motion rather than two separate actions.