For the OP, I often feel like guys like HyzerUnibomber, sidewinder22, and slowplastic are speaking Greek when it comes to form. slowplastic is maybe the easiest for me to understand, likely because he has made this "form journey" more recently than the other guys.
... technique barrier, often from not having the elbow forward enough so you get the elbow/wrist sling thing happening with the disc. Often players have the arm pinned to their chest too much so the whole arm swings around their body slowly. Lots of other form factors too. ...
As always, good advice. Let me try to translate what this meant for me, or how it helped me practically. For me, the way I improved this a bit was by focusing on getting the disc to my right pec. (This helped me stop "hugging myself" as sidewinder22 often talks about and as slowplastic describes above.)
The thing about a disc golf drive is that it happens fast, or at least just a little bit too fast for you to think about each component of the throw. So you kind of have to work on each item at a time (e.g. X-step or even just 1-step, driving the hip, and swinging the disc), building each item into your motion, but probably only thinking about one of them while you're throwing. Yes, "slow is smooth," but you're still moving fast enough that the motions need to be muscle memory, not conscious choices.
On a side note, this is also why it's good to film yourself. You often focus on something (a lot of new throwers like to focus on reachback, for example), and it kind of feels okay, but when you watch your own video you'll see you're not doing what you think you're doing.
Personally, I still have tons of room for improvement. But at the same time, I've made some good strides so that I can consistently get a Teebird over 330' and can throw the occasional 400' backhand drive on a good golf line.