There is something about breaking the rules that is terribly satisfying. My fingers sometimes go where they want to on the keyboard and I sort of have to take them back home or rein them in.
This is especially evident in Relentless and Impromptu. In Relentless, just past the half way mark, they took the piece to a place it had never gone before. In other words, this created a new ending. And this during the recording session!
Not notating everything down keeps things fresh. You are open to new phrases and resolutions. This is risky, but oh so satisfying!