You’re right if you dig the training. You must Drill over and over.
My experience of improvisation is relative the regular Beefs we made with other electro musicians. I now very well my Elektron machines, made a lot of gigs in my life, but i know that the best improvisations are long time prepared by training, but by kits and sounds allready made, too.
If you prefer, on a bass or guitar or piano, the sound is fixed and then you can improvise with sufficient instrument study. With electronics gear, the possibilities are so numerous that the best way to avoid crash during play is a well prepared set. Not a “play/stop” gig, like playing a record, but a kind of canevas with a large place for improvisation, and a good probability to limit noises or errors that would make your live going strait to the wall.