Aye Dr F is the man! He's got it all put together, the training, the medical side, being an actual full contact champion (The first, possibly only open japan champion to be a medical doctor).
I think almost anyone is going to benefit from slow and controlled kicking drills. People under estimate and even look down on drills like holding onto a wall for balance and holding up your chamber as high as you can without losing form, then slowly extending your kick and holding at full extension before slowly coming back. I do it like this, taekwondo style, chamber for 3 seconds, slowly extend (side kick, roundhouse, etc), hold for 3 seconds, slowly re chamber and hold for 3, then rest. That's 1 rep, do just 3 reps to start on each leg with roundhouse, front kick, side kick, and hook kick (for hook kick extend into a side kick then slowly pull your leg fully extended for the count of 3 and hook with the heel at the end of the movement as you come through the target). When you can do 3 sets of 3 reps with each kick on both legs up the height until you eventually reach head height. Then drop the height back down and go for 4 sets of 4 seconds on each leg.
Almost every single session I coach or train myself in I start with dynamic stretching, and lots of movement. I put any extra focus on areas that are going to be trained but otherwise start from the top and work my way down, neck, shoulders, arms, body/spine, hips, knees, ankles. Then onto whatever the main session is. Then 2 - 3 times per week finish with a good static stretch where I work on holding the position and increasing the range of movement. PNF stretching with a partner is great for this, they help you hold the stretch, then offer resistance as you push back hard out of the stretch for 10 seconds or so contracting the target muscle, then as you relax they help you go beyond your previously held stretch. Movement early on to grease the joints up real good and get everything flowing, hard static stretches at the end because you're already more limber and they're going to tear muscle fibres just like weight training. Hard stretching at the start of a workout makes you weaker and more open to injury.