"Hitting your balance point" is something that many recommend. I'm not one of those. I don't see value in it. There's a thread on another site (hsbaseballweb.com) about this and you get discussion favouring both sides. My "belief", and that's all it is, is that one should not focus on a point like this as it CAN, not definitely will, result in an unproductive pause in the overall motion. I prefer getting the front hip moving toward the target either at or slightly before the knee reaches it's apex. Many high level, hard throwing MLB pitchers do this. Many go to the balance point also. If the balance point is of value, why not start there?
"Staying back" is a much misunderstood cue also. It CAN be the killer of moving forward, depending on how you view it.
I would say that your intention of not "rushing" is great, but that depends on your definition of rushing. I suggest that it's possible to move your centre of gravity toward the target relatively quickly without rushing the upper body. It's a postural issue and Roger can speak to that quite well.