This touches on some thoughts i've been marinating on for a while now, which is the importance of leg dexterity; don't think of your legs just as 'legs', think about using them just like how you would use your arms too; snaking through and around to the places you need; controlling, pushing, and contorting however is desired. If for example you're trying to move your leg somewhere, and your opponent blocks your direct path with something, don't just give it up as a bad job, start wending around it just like if they were trying to block your arm from doing the same thing.