Great post, I have often noticed the same thing, that a classical musician can play any piece of music put in front of them like a robot, but can't improvise in the moment, like a blues player, or Jimi Hendrix could. I always associated improvisation as being kind of wild and free with the playing, but as you mention Bach was a master of improvisation and it came out sounding like a well thought out composition because he was so good!
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I like to think of classical music as wild and free as well hahaha, but I guess I'm going to have to pioneer that perspective in our current age till it catches on.
I suppose it comes down to thinking of the "rules" of classical music as "technique." Guitar is the best instrument I can think of as a cross over between the "robot" classical musician and the wild and free musician