I did some sanchin training with my instructor today - checking out stance, transitions and turns. My body structure is improving, but needs a little more work on extending/lengthening my spine. Stepping, I am bobbing a bit much from the knees, and punching I am not extending enough, with a slight disconnect between my body and arm.
In fact, extension is the main thing I need to improve on at this stage. I am getting the grounding OK, but extension is one of the major things sanchin is about (much like happoren). As my sensei said, the three battles are "concentration, breathing and ex-tension".