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eskay
My first attempt was less than circular - not helped by being a small (ish) diameter. I found that tacking everything in place helps, as does a manual sewing machine where one stitch at a time can be done slowly - possibly higher end machines can do this, but I only have MrsE's Janome for comparison.
Second effort is larger - more saddle bag than bar, and I resorted to cheating. I wanted a stiffener for each end, so I 3D printed a disc with a rim and evenly spaced holes for hand stitching. Tacking the end in place allows the excess to be gathered evenly - photos below, but I forgot to take one before turning it all the right way round.
Obviously this is no help if you don't have access to a 3D printer, unless you get creative with a cut down plant saucer and a drill...