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If you want to throw a kick to test the waters, use a lead leg kick, or a pendulum kick:
This is a Sagat special and he did it against most of his opponents if not all.
It's also the GSP and Shevchenko special, both fighters use it as a probe to score points and gauge their opponents' reactions.
Couple ways in this video for getting your leg back when it's caught. First one seems risky against someone trying to punch you, I'd use it against someone trying to sweep or take you down. 2nd method defends the punch and puts you in a good clinch position when you get your leg back.