you need to keep your head. you should be, at any time in the randori, if someone says stop, then you should be able to describe your next two moves at that point in time, and why you would make those moves.
I respectfully disagree with you...I never know what technique I am going to do until I am doing it. Randori has nothing to do with thinking. Each moment is met from the center with total concentration on the conditions at hand. The techniques or non techniques arise out of the the attack and the position of the other ukes. Thinking about the future is a distraction from the now.
Some ukes must be sidestepped and avoided as others are engaged and used as shields from other ukes. If a uke is just holding on, witrhout being dangerous they may be disregarded and dealt with after the more threatening ukes are dealt with. It all becomes clear with repeated practice and corrections as we go.