Have written on the topic of training different ways to sharpen specific skill-sets before, but touching on it again for a reminder:
Rep Drilling: Builds Muscle Memory and Conditioning.
John Smith teaching the importance of repping stance, motion, and footwork:
Rep Sparring: Builds Timing and Muscle Memory.
Rickson leg work practice demo:
Free Sparring: Builds Timing and Gives Feeback
Rickson Gracie Vs. Rigan Machado, one of my favorite rolls over:
Free Drilling/Workshop: Creates things to drill and builds Jiu-Jitsu Intelligence.
Henry Akins exploring the concept of Connection: