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Here are words similar to improvisate:
a beneplacito, a discretion, abandon, abbreviate, abduct, abridge, abrupt, abscind, abstract, accommodate, accompany, accomplish, accumulate, achieve, act, act a part, act like, action, actor, ad arbitrium, ad hoc measure, ad lib, ad libitum, ad-lib, ad-libbing, addle, adjust, admix, adulterate, adventuress, affect, affected, affecter, agent, agglomerate, aggregate, aggroup, agitate, al piacere, alienate, alike, alloy, allure, alter, alternate, alternative, amalgamate, amass, amputate, analogy, angle, annihilate, annoy, answer, aped, apocryphal, arouse, arrange, arrangement, articulate, artifice, artificial, Aspasia, assassinate, assemble, assume, assumed, at choice, at pleasure, at short notice, at sight, at will, atone for, attain, attract, author, awake, awaken, backup, balance, ball up, ban, bar, bastard, bat out, batch, be caught napping, be getting along, be surprised, be taken unawares, be unprepared, beat, beat up, becharm, befuddle, beget, beguile, bemingle, bewilder, bewitch, bib, blagueur, blend, blot out, blow, blow the coals, blow up, blue-pencil, bluff, bluffer, bob, bogus, boot out, booze, borrow, botch, bounce, bowdlerize, break, break the habit, breathe, breathe out, breed, brew, brighten up, bring forth, bring into being, bring to completion, bring to fruition, bring together, brummagem, brush up, buck off, build, build up, bulk, bump off, bunch, bunch together, bunch up, bundle, bungle, bustle, buy it, buzz off, by ear, cabal, cadenza, call a strike, call forth, call into being, call it quits, call up, cancel, captivate, captive, carry away, carry off, cartoon, cash in, cast, cast a spell, cast off, cast out, catch, caught napping, caught off balance, caught short, cease, censor, certified copy, chalk, change, changeling, charcoal, charlatan, charm, charmer, chase, cheat, check in, check out, chime, chord, chorus, chuck, chuck out, churn, churn up, Circe, clear, clear away, clear out, clear the decks, clinquant, clip, close, close down, close shop, close with, clump, cluster, coalesce, coauthor, coin, collaborate, collect, colligate, collocate, collude, color, colorable, colored, combine, come away, come out with, come round, come to terms, come together, commingle, commix, communicate, compare, comparison, compass, compile, complete, complot, compose, compound, comprise, conceive, concert overture, concertize, conclude, concoct, concocted, conglomerate, connive, conquest, consimilar, consist of, conspire, constitute, construct, consummate, contrivance, contrive, convey, convulse, cook, cook up, cool, copied, copy, coquette, corral, counterbalance, counterfeit, counterfeited, countermine, countermove, counterplot, counterpoise, countervail, coup, course of action, courtesan, cover up, crayon, create, crib, croak, crop, cross out, crosshatch, crowd, cull, cumulate, curtain raiser, cut, cut adrift, cut away, cut off, cut out, dash, dash off, dash on, date, daub, deal with, deceiver, deception, decoct, defenestrate, delete, Delilah, delineate, deliver, demarche, demimondaine, demimonde, demirep, depart, depict, deport, depose, deputy, deracinate, descant, design, desist, detrude, develop, device, devise, diagram, dig out, dig up, disarrange, disarticulate, discard, discharge, disclose, discompose, disconnect, discontinue, discount, discover, disengage, disgorge, disjoin, disjoint, dislodge, dismount, dispatch, dispel, dispose of, disqualification, disquiet, dissemble, dissimulate, dissociate, distorted, distract, disturb, disunite, ditto, divide, divorce, dizzy, do, do a bit, do anyhow, do away with, do by halves, do carelessly, do in, do like, do offhand, do the job, do the trick, do up, dock, doctor, dodge, doff, Don Juan, doodle, double, double-time, douse, draft, drain the cup, dram, dramatic overture, dramatize, draw, draw back, draw on, draw together, dream up, dredge up, dressed up, drink, drink bottoms-up, drink deep, drink hard, drink in, drink off, drink to, drink up, drive together, drop, drop off, dummy, dust off, echo, ectype, edit, edit out, editorialize, effect, effectuate, effort, eject, eke out, elaborate, elide, eliminate, embellished, embody, embroidered, emit, emulsify, enact, enamor, enchant, enchanter, enchantress, endear, engender, engineer, enkindle, enrage, enrapture, enravish, enter into, enthrall, enticer, entrance, enucleate, enunciate, equal, equivalent, eradicate, erase, erect, ersatz, escape, estrange, evacuate, evolve, except, exchange, excise, excite, exclude, execute, exhale, exhaust, exile, exit, expatriate, expedient, expel, expire, express, expunge, expurgate, extemporaneous, extemporaneously, extemporaneousness, extemporarily, extemporariness, extemporary, extempore, extemporization, extemporize, extemporized, exterminate, extinguish, extirpate, extrude, exuviate, fabricate, fabricated, factitious, fair copy, faithful copy, fake, fake up, faked, fakement, faker, false, falsified, falsify, fan, fan the fire, fan the flame, fantasize, fascinate, fashion, favoring, feed the fire, feign, feigned, femme fatale, ferment, festinate, fetch, fictitious, fictive, fill in, fill out, fill-in, finagle, finesse, finish, fire, fire brigade, fire department, fire fighter, fire warden, fire-chaser, fire-eater, fireman, fit, fix, fix up, flam, flame, fling off, flirt, flourish, flurry, fluster, follow strong drink, following, foment, forest fire fighter, forge, forged, forgery, forgive and forget, form, formulate, four-flush, fourflusher, frame, frame up, frame-up, framed, fraud, fraudulent, free-lance, frenzy, freshen, fret, fudge, fudge together, fudge up, fulfill, fume, furbish, furbish up, fuse, gammon, gang along, garbled, gargle, gather, gather in, gather together, generate, get, get along, get away, get clear of, get free of, get going, get in, get moving, get off, get on, get out of, get quit of, get rid of, get shut of, get together, get under way, get up, ghost, ghostwrite, ghostwriter, gimmick, give, give being to, give expression, give off, give out, give out with, give over, give rise to, give the hook, give tongue, give up, give utterance, give vent to, give voice, go, go along, go away, go into, go like, go off, go off half-cocked, go on, go on strike, go west, gold, gold digger, grog, group, guzzle, gyp, halt, haphazard, harem girl, hash, hasten, hasten off, hasty, hatch, hatch a plot, hatch up, have it, have no plan, heat, heat up, heave out, hetaera, histrionize, hoax, hoaxer, hoke, hoke up, hokey, hold in thrall, hollow man, homogeneous, homogenize, honey, hot lick, houri, humbug, hurry, hurry away, hurry on, hurry through, hurry up, hurry-scurry, hustle, hypnotize, hypocritical, icon, identical, illegitimate, image, imbibe, imitate, imitated, imitation, immingle, immix, impart, impassion, impersonator, impose, impostor, impromptu, improvisate, improvisation, improvisatorial, improvise, improvised, improvision, improviso, incapability, incense, incite, incompetence, incorporate, indite, infatuate, inflame, inflame with love, infuriate, instigate, integrate, interblend, interfuse, interlace, interlard, intermingle, intermix, interpolation, interpret, intertwine, interweave, intrigue, introduction, inveigler, invent, invented, isolate, issue, jettison, Jezebel, join, juggle, jumble, junk, junky, jury rig, jury-rig, jury-rigged, jury-rigged expedient, justify, juxtapose, key up, kick, kick downstairs, kick in, kick off, kick out, kick the bucket, kidnap, kill, kindle, knead, knock back, knock off, knock out, knock over, knock together, lack of preparation, lap, lap up, lash up, last expedient, last resort, last shift, lather up, lay a plot, lay off, leap, leave, leave off, let on, let on like, let out, lick, light out, light the fuse, light up, like, likeness, limn, lip, liquidate, load, locum tenens, loot, lop, Lorelei, lose, lose no time, lump together, machinate, madden, make, make a pretense, make as if, make believe, make do, make do with, make good, make haste, make like, make matters up, make music, make out like, make up, make-believe, makeshift, malingerer, man of straw, man-made, manage, maneuver, manipulate, mannerist, manufacture, march off, mass, match, mature, means, measure, meld, merge, merge in, mesmerize, Messalina, metaphor, metonymy, mimicked, mingle, mingle-mangle, mint, mirror, mix, mix up, mobilize, mock, modify, mold, molt, mosey, mountebank, move, move away, move off, move out, move quickly, muster, mutilate, nearly reproduced, nettle, next best thing, nip, nip off, nonpreparation, nonpreparedness, not unlike, novelize, obtrude, odalisque, off the cuff, off the hip, off-the-cuff, offhand, offset, omit, on sight, open the floodgates, open the sluices, operate, operatic overture, organize, originate, oust, out of hand, out with, outlaw, outweigh, overact, overexcite, overhaul, overrun, overture, pack, pack the deal, paddle, paint, paint a picture, pair, pamphleteer, paper tiger, pare, part, Parthenope, partner, pass out, paste, pasticcio, pastiche, patch, patch together, patch up, pause, peel, peg out, pencil, perform, performer, personnel, perturb, perturbate, perverted, phonate, phony, phrase, Phryne, pi, pi a form, pick out, picture, picturize, piece out, piece together, pinch, pinch hitter, pinchbeck, pipe off, pique, pis aller, plagiarize, plagiarized, plan, planlessness, plant, play, play a part, play a scene, play by ear, play possum, playact, playactor, playing by ear, pledge, plot, plunder, plunge, polish, polish off, polish up, pop off, portrait, portray, poser, poseur, post, pound out, pour forth, prearrange, precipitate, preconcert, precontrive, predesign, prefabricate, prelude, premeditate, preorder, prepare, present, press on, pretend, pretended, pretender, pro tempore, procreate, produce, profess, pronounce, provisional, provoke, proxy, prune, pseudo, puff, pull, pull away, pull back, pull out, purge, push on, put away, put forth, put in words, put off, put on, put on airs, put out, put together, put up, put up to, put-on, put-up job, quack, quacksalver, quackster, quaff, quasi, queer, quit, race, raise, rake up, rally, ransack, ready, realize, rear, rebuild, recess, recondition, reconstruct, redeem, reecho, reek, refill, reflect, refurbish, reject, release, relief, relieve, remove, render, renovate, repair, repeat, replacement, replenish, representation, representative, rescind, resemblance, resembling, reserve, reserves, resort, resource, retouch, revamp, revive, rid, riff, rifle, rig, rile, ringer, rip-off, ripple, rob, roil, root out, root up, rough out, rough-and-ready, roughcast, roughen, roughhew, round out, round up, rouse, rub out, rub up, ruffle, rule out, rumple, run, run up, rush, rush through, salt, saltimbanco, sashay, sashay off, say, scamper, scamper off, scenarize, scheme, scramble, scrap the plan, scrape together, scratch, scumble, scurry, scuttle, second string, secondary, secure, seduce, seducer, seductress, segregate, self-styled, sell, semblance, separate, sequester, set, set apart, set aside, set astir, set fire to, set forth, set in print, set off, set on, set on fire, set up, settle, settle with, sew up, shade, shake, shake hands, shake off, shake up, shake-up, sham, shammer, shanghai, shape, shave, shear, shed, shift, shine, shoddy, shoo, shove off, shuffle, shut down, shut off, shut up shop, sic on, sign, similar, similitude, simulacrum, simulate, simulated, sip, Siren, sketch, skin out, slap up, slip, slip out of, slough, smacking of, smoke, smokechaser, smokejumper, snap, snide, so-called, soak, soi-disant, solution, something like, sophisticate, sound, spares, spawn, spell, spellbind, split, spoof, spruce, spruce up, spurious, spurt, stack, stack the cards, stagger along, stamp out, stand aloof, stand apart, stand aside, stand-in, steady, steam, steam up, stencil, step, step aside, step off, step out of, stick up, stir, stir the blood, stir the embers, stir the feelings, stir up, stop, stop for breath, stopgap, straighten out, stratagem, straw man, strike, strike off, strike out, strip, strip off, stroke, stroke of policy, structure, strumpet, sub, substituent, substitute, substitution, subtract, succedaneum, succeed, suck, suck in, suckle, suggestive of, summon up, sup, superseder, supplanter, supposititious, surcease, surprised, surrogate, swear off, sweet patootie, sweetheart, sweetie, swig, swill, swindle, swirl, symbol, symphonize, syncretize, synecdoche, synthesize, synthetic, tactic, take, take a break, take a recess, take a rest, take away, take care of, take five, take flight, take off, take out, take ten, take time out, take up, take wing, taken aback, taken by surprise, taken unawares, tamper with, tantalize, tear, tear off, tear out, teaser, tell, temporary, temporary arrangement, temporary expedient, temporary measure, tempt, tempter, temptress, tentative, Thais, think out, think up, third string, throttle, throw away, throw off, throw on paper, throw out, throw over, throw overboard, throw together, thrust out, tickle, tin, tinsel, tint, tipple, titivated, toast, toddle along, token, tone up, top off, tope, toss down, toss off, toss out, toss together, touch up, trace, transport, trick, trifle with, tripped up, trouble, trump, trump up, truncate, tug the heartstrings, turn on, turn out, turn the trick, twisted, unarranged, unauthentic, unbegun, unburden, unconcocted, uncontrived, uncouple, undeliberated, understudy, undevised, undo, unfitness, unfittedness, unforced, ungenuine, unhatched, unhorse, uniform with, unite in, unmade, unmanufactured, unnatural, unorganized, unplace, unplanned, unpremeditated, unprepared, unpreparedness, unprimed, unqualification, unqualifiedness, unreadiness, unready, unreal, unrehearsed, unsaddle, unseat, unstudied, unsuitability, unsuitableness, unsuitedness, unwrap, unyoke, up and go, uproot, upset, utility, utility player, utter, vamp, vamp up, vampire, vapor, vent, verbalize, vicar, vicarious, vice-president, vice-regent, vocalize, voice, void, voluntary, volunteer fireman, Vorspiel, vulnerability, wake, wake up, waken, walk out, wangle, warm, warm the blood, warped, wash down, wear, weed out, whet, whip, whip in, whip off, whip up, whisk, whisper, whited sepulcher, whiz off, whomp up, whore, wing it, wipe out, withdraw, work, work into, work out, working hypothesis,