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I think there are a few separate bits to this thread. First of all, let's just acknowledge that sometimes the attacker takes us by surprise, or is faster than us. Then we just get hit, and the question is whether we lose our grounding WHEN we get hit.
If we have quick enough responses, we can get out of the way using tai-sabaki, and then use atemi or technique (iriminage or tenchinage variants) as our response.
The final bit is about flexibility. If I try for a lock on the attacking arm, and it is pulled away, I need to be able to move flexibly into something else rather than be stumped.
It's all just practice.
Yours in Aiki,
Peter
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