Whenever I got into any kind of inverted V I always think about pushing up with my hips… really getting your crotch into the pole like you said lol. If you're not all the way up there isn't gonna be really hard to balance and not fall back out of the V.

Also, make sure you're not jumping into it, because the momentum can knock you right back down if you're not using enough control.

I found practicing the tuck invert VERY helpful for the V invert.