Change directions more quickly at the top of your extension - I think moving your feet a little bit would instantly help that. That is, instead of allowing your toes to remain on the floor, pick up your entire foot and replace it aggressively on the floor flat. Don't lift them up anymore than necessary to move them into your squat stance and connect flat-footed.
That foot movement will probably also help with your balance problem in the bottom position by keeping your feet under you better.
Otherwise, looks really good. Nice work.