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Yes to thisThe technique you perform in live training/sparring/fighting is that movement with potentially a large number of in-the-moment modifications to account for the fact that a skilled opponent is doing their best to counter your technique.
Yes to this. I think this comes from understanding what you are doing what Tony is talking about. If you understand the application and how it's actually applied then your form will be based on that knowledge. Making it more accurate towards a specific application of that movement.Which is why when people drill a move and then fail. It is because they are doing incorrect technique.