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When I go from a 4 step or closer, I usually have good form and can get my legs all the way up. But once I move back to a 5 or 6 step run I can no longer get out of the "v" position/can't get my hips to the pole. I can feel myself staying in that position but for some reason I just can't get out of it. I'm not sure why this is happening. I think it might be because I have a more controlled run at 4 steps so my plant is better and up higher. I have been working on getting my plant up higher on my six step and it's better now, but I still cannot get my legs all the way up.

Maybe you're raising your grip too much as you go back? Try keeping your grip the exact same when you back up, and don't raise it until your form is good and you are landing really deep in the pit. It's a lot easier to swing properly when you have a lot of pole speed.