Just learn the steps you like from dance routines so you can use them freestyle.
learning where some Hip Hop moves come from - like Jazz, African, and Caribbean dance forms. If you learn other steps from those dance forms then it could help improve your originality too.
"Learning" to freestyle is about improving on your confidence levels as well as learning more dance moves to freestyle with. The best freestylers incorporate all kinds of moves, tricks, stunts, etc. and do things people don't usually see.