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ad-lib to make up or do without preparation; improvise (something spoken, sung, or played). [1/3 definitions]
ad libitum at one's pleasure (used as a musical direction to indicate that a section so marked may be varied, improvised upon, or omitted, as the performer wishes, or as a stage direction to indicate that the performer may improvise).
extemporize in music, to compose as one performs; improvise. [2/5 definitions]
play it by ear to act without planning in advance; improvise.
vamp1 in music, to invent or improvise. [2/7 definitions]
wing it (informal) to proceed without advance preparation or a plan; improvise.