Try to dance more with your feet rather than your legs. Do less dancing with your thighs and knees and more with your feet. Your feet should never be passive. Your supporting foot should never wobble if you are working from it, and it should push the floor to move your body. Your free foot or gesture foot should point the free leg where you want it to be. When you make a battement tendu or dégagé, even a developpé, think of where that free foot goes and let it bring the free leg to the position. Try it.