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I see a lot of SW22 Hammer X-Step and Battering Ram in your motion. For Medicine Balls, I might recommend shoes since you can get/feel even better ground leverage/reduce risk of little foot muscle strains when moving weight around.
You may already do this, but I would also mix up the ball trajectory to such as aiming the ball more directly at the wall like a more level disc throwing line. I've only been getting the hang of Battering Ram for one day but already find the transfer to the disc works faster if I alternate between a weighted object (different shapes/sizes can help), then switch to a disc, then back again to reinforce the motion pattern etc.