extemporize

verb6

1. •
   To perform or speak without prior planning or thought; to act in an impromptu manner; to improvise.

   • "Will you please tell me whose music you have been playing?" . . . "It's nobody's, miss." "Do you mean you have been extemporizing all this time?" — 1881
2. •
   To adapt, improvise, or devise action or speech in an impromptu or spontaneous manner.

   • As the music came fresher on their ears, they danced to its cadence, extemporizing new steps and attitudes. — 1860
3. •
   To do something, particularly to perform or speak, without prior planning or thought; to act in an impromptu manner; to improvise.
4. •
   To make or create ex tempore.
5. •
   To compose extemporaneously or improvise.
6. •
   To do something in a makeshift way.