Indeed, "thematic sparring", usually focusing on some weakness or simulating an ordeal (being cornered, being unable to use an arm/leg...), and the "don't spar

Indeed, "thematic sparring", usually focusing on some weakness or simulating an ordeal (being cornered, being unable to use an arm/leg...), and the "don't spar to win" rule are key. There is IMHO no known way "to get better at fighting without fighting".