Here is a very quick Oyo to apply the principles as demonstrated in Naihanchi.
Kata is not linear, the principles should be applied freely, as the situation dictates.
We filmed this slightly more vigorous example very quickly during tonights session.
I was going to put this on my seminar advert, but decided this might be the more appropriate place.
On the clip notice the deliberate mistake at the end, instead of a quick joint attack and Age Tsuki I instinctively reverted to my primary percussive option - the Shotai Uchi.
All the best