doesn't cost me time as all. actually, it saves me time, since i am always there before my ukes. i don't have problem doing in randori either, and our randori approach is that all ukes will try to swamp you. they aren't going to play fair and doing one-on-one with you. i don't have problem planing ahead, be in the moment, and analyzed past actions.
Sounds a lot like you have a highly coordinated mind/body. Your think/do loop is obviously very tight and you don't have to consciously will your body to move as a separate act. Congratulations, you manifest Ki.
Different maps, different roads, different terminology... same destination.