freestyle
US /ˈfriː.staɪl/
UK /ˈfriː.staɪl/

1.
a style of swimming in which the swimmer uses a crawl stroke, regarded as the fastest swimming stroke
:
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She won the 100-meter freestyle event.
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He specializes in the freestyle stroke.
2.
a competition or performance in which participants are free to choose their own movements or techniques
:
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The snowboarder performed an amazing freestyle run.
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The rapper delivered a spontaneous freestyle.
1.
to perform or create something without prior planning or restriction
:
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The chef decided to freestyle the dinner, using whatever ingredients were available.
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The dancers started to freestyle to the music.