The training at home (in an Iwama environment) have much more structured feel than other dojo I´ve visited. Probably sloppy compared to those Yoshinkan and Shodokan types though.
The little time I spent in an Iwama dojo (under Patricia Guerri) was as structured as the Yoshinkan training I am more familiar with. I don't believe I saw any sloppy technique at all. In fact, because I am used to not being as formal outside of my normal context, I was brought up short by my partner's focus at the beginning of the first waza / exercise. I went in fairly casually, as I have seen in many dojo outside of the Yoshinkan, but her focus immediately told me that was a big no no.
I backed off, and started again properly.