To be clear, it is possible to maintain strong structure and balance while bending or leaning forward.
The fundamental stance in freestyle and folkstyle wrestling is a good example.
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It's harder to use a strong lean while maintaining structure and balance in striking, but it can be done. Manny Pacquiao famously would throw his left cross and extend and lean way further than most boxing coaches would normally call prudent. But he made it work.
The key, as you note, is to maintain your base underneath you. (Pacquiao made use of an additional mechanic, where he would actually throw his balance outside of his base for a split second, only to immediately regain his base as part of the same movement. I would consider this a more advanced application and would only recommend it for fighters who have already developed a strong sense of base and structure.)