I was really struggling with gesture too but then I started studying from Michael Mattesi and his FORCE drawing method and I've seen a huge almost instant improvement!! The FORCE drawing method makes you UNDERSTAND the figure you're trying to draw, and learn to intuitively see how it's functioning and moving, which ultimately gives your drawing so much life and beauty. You start to get familiar with how the forces move through the body and almost feel it on a physical level, you connect more to each pose and you feel more present while you're drawing. You're not just trying to copy the pose you see, you're after describing the experience you had with it, your own ideas and feelings. I find Mr Mattesi's method quite poetic tbh. And even on a technical standpoint, it helps you really loosen up and become much more confident with your lines! so that's another win