Synonyms of 'extempore'
He made some heated and extempore remarks.
a speech delivered extempore by the minister
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Ad lib is also an adverb.
I spoke from the pulpit ad-lib.
If someone gives or does something freely, they give or do it willingly, without being ordered or forced to do it.
He freely admits he lives for racing.
An impromptu action is one that you do without planning or organizing it in advance.
They put on an impromptu concert for the visitors.
Thesaurus for extempore from the Collins English Thesaurus
without planning or preparation; impromptu