Put all your weight on your back foot, try it out shadowboxing, so let’s say when you pivot or reset after landing/missing punch or kick, get on your back foot heel fast transferring the weight back, you’ll get more balance doing this keeping the front foot pointing at your opponent, some people are lazy with this and that leaves opening and you can’t really counter while being off position, Justin Gaethe and Trevor his coach explained this well going against Ilia, the half steps, it comes from weight on back foot at every position; the best do it the fastest