The turning circle of the peugeot is quite a bit more than the tint micra, plus the car is considerably longer. You simply need practice at judging exactly when the rear wheel is at the correct point to start your turn. It may appear totally wrong from your position in the drivers seat, as the back wheels are further from you, but also the back of the car is well past the wheels.
If you are ending up too far from the kerb, you are either starting your turn too late (ie when the rear wheels are beyond the apex of the corner) or you are moving too quickly while not applying lock quickly enough.
Hope this helps.