Impulsively, without much thought.
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Doing something on a sudden urge, with no plan behind it.
When you act on a whim, you follow the feeling of the moment without thinking it through.
It is used for choices made quickly, just because you felt like it.
"On the Spur of the Moment"
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Doing something without thinking in direct response to the immediate situation you are in
"Off the Cuff"
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Doing or saying something without preparation, especially speaking without notes
"On a Whim"
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Acting on a sudden impulse without prior planning or deliberate reason