Is this a new mower? If so, it just takes a little time to get the feel of it. Since youre positioned right above the rear wheels, in time knowing exactly what your wheels are doing will become second-nature.
Until then, come to a complete stop before starting your turns. Even after you get the hang of the machine, when the soil is soft or on a steep slope, it helps to come to a complete stop. Then stand on the back edge of the platform and watch your wheels as you pull one lever back to perform a zero-turn.
You will get to where you feel what the wheels are doing, but when the ground is fragile, it helps to go slow. If youre doing a reversal from one stripe to the next, youll want to do a 90-degree turn, move over one cut-width, and then do the other 90-degree turn. Its even less traumatic on the turf to make a three-point turn (three 60-degree turns, a.k.a. K-turn).
When you come to an inside-corner, mow up to the stop, then back up further than you need to before you rotate. That will keep from developing a divot in the same spot.
If this is a new mower, you can adjust the control levers sensitivity to the turtle settings as shown on the upper left-hand side of the control panel. This will decrease the sensitivity (and speed) making the mower less twitchy around obstacles. After few days, youll gain confidence and want to switch back to the rabbit setting.