On upper body I’ll do an antagonistic movement in the same plane prior to each set of the main movement for that day, ie,
Any of several row variations/bench
Weighted pull-ups/military press
I do the same with my accessory work, doing a use/pull in the same plane.
Lower body, I do the main lift on its own but with accessory moves, I’ll add abs or calves or something. A brutal one i’ve been doing lately is heavy rack pulls(mid-shin) s/s with heavy KB swings. I thought the KB was 105, but I did the conversion wrong (kg to lb), its 115.