Etymology
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extemporary (adj.)

"composed or uttered without previous study or preparation," c. 1600, from extempore + -ary.

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Definitions of extemporary

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