I grew up with the idea that "improvising" was the best way to fail.
I had to work hard and to rehearse several times before every important exam or presentation. And in my professional career, I naturally wanted my presentations and projects to be under control, with "no room for improvisation".
At 40, I discovered how to improvise, on my violin first, and then progressively introducing a part of improvisation in the projects I was working on, accepting not to have everything under control, and enriching the experience with unexpected elements: new collaborations, ideas, activities that I would never have imagined.
There are probably 3 elements that we could explore in order to improvise "efficiently" J;
1- practising a triple listening:
> listening to your own sound, voice, inner state
> listening to your co-workers, teammates...
> listening to your environment
2- abandoning the willingness to control, while replacing it with the willingness to participate
3- enjoying your ability to dare, learn and create something new and unexpected, and to share it