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There is no shortcut to getting into the mode. But L1 + circle will get you out of the mode. Out of any mode, actually.
Sorry to hear about your imp troubles. Handling the imp will become second nature in a short amount of time.
The "imp drift" is a known issue with the hardware itself. I believe Mm are looking into ways of mitigating the problem, but as it's the controller itself that is the problem it's unclear how much they can do.
For now, just reset the imp position. I find holding it still for a second or two after resetting helps settle it down a little better. Or you can place the controller on a flat surface, reset, let it settle for a second, and then carry on; this has helped me from time to time.
Another method if it gets really bad, is to turn the controller off and on again. I assume this cycles the power to the gyro sensor and can settle it down.