"Making a change with the choreography on the fly shows more in the Tango where it is possible to stand still and maybe use a head flick. In the other dances they may Hover or go into a Lunge. What they will do is wait for the correct beat before continuing."

Waiting for the correct beat before continuing is not what is ordinarily meant by making a change in the choreography - rather the opposite - it's what those who are unwilling to make any changes are forced to do.

Those who are able to change their choreography when needed don't have to wait until the correct beat to continue with the original plan, they simply divert into an alternative compatible with where they find themselves. That doesn't mean they won't dance line figures at opportune times, it just means they aren't going to be stuck somewhere until it's possible to resume their original choreography.

"Or you can go ahead like many others around you and dance out of rhythm and out of phrase."

Or you can come up with an new idea that is in phrase with where you are in the music.