I went to judo twice this week, and I don't feel dead!
At this other class, I got some information no one has ever told me about uchimata and harai goshi:
1. You shouldn't step all the way in on your first step. Rather, you should step in front of the opponent. Then, your second (backward) step is the one that should go deep. In addition to making it easier for your second foot to get in place, this starts your rotational momentum, so that it does not all have to come from your hip twist.
2. There will be a point at which both your opponent and you are off-balance. Your combined center of gravity will be in front of you. This is not one of the throws in which you are balanced at all times, and your opponent is unstable. But you are in position to control how it resolves.
It worked very well when I tried it out in randori on Tuesday.
Newaza randori today didn't go that well. I kept failing to sweep, then getting crushed over and pinned. But I am glad that I gave it an honest effort instead of stalling white belts while resting.