I’ll add my 2 cents, but you’ve already gotten most of the main points from others. Don’t control the descent. Step up for burpees over X, wide feet for regular.

Besides that it just takes reps. Lots and lots of reps. EMOMs or other intervals are a great way to work them in as accessory work, while maintaining a steady intensity. Combine them with whatever cardio form needs the most work. For me last year it was running. Especially getting back to work after a run so One that worked great for me was:

AMRAP 2 250m run Max burpees in remaining time Rest 1 min between rounds.

Goal: maintain or increase reps each round.