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idpa wants you to save your empties, i believe. so, you shouldnt drop the mag to the ground. so, you got that right. i think maybe you should have found a pistol that fit your hand better. there are slimmer grip profiles than offered by the g17 out there. can you possibly shift your grip a little? i had to do that, and it actually improved my shooting as well. if not, i think you have got the right technique for you, so just practice, practice, practice until it is as smooth and fast as you can make it. smooth comes first, because smooth is fast. so dont try to go as fast as you can, make it smooth, develop the muscle memory. the speed will come on its own. on another note, stop releasing the slide. slingshot it everytime
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