Etymology
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extemporaneous (adj.)

"made, done, procured, or furnished 'at the time,'" hence "unpremeditated," 1650s, from Medieval Latin extemporaneus, from Latin ex tempore (see extempore). Earlier was extemporal (1560s); extemporanean (1620s). Related: Extemporaneously; extemporaneousness.

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Definitions of extemporaneous

extemporaneous (adj.)
with little or no preparation or forethought;
an extemporaneous piano recital
Synonyms: ad-lib / extemporary / extempore / impromptu / offhand / offhanded / off-the-cuff / unrehearsed
From wordnet.princeton.edu