I feel like a healthy mix of hanging bags, sparring lightly with partners, moving bag men and stand alone bags are your best bet.
Hanging bags sway (similar to an opponent) and force you to move around to complete your strikes. You learn timing on a hanging bag as well, being able to hit the bag just right to stop the momentum is extremely valuable.
Stand-alone bags are also useful. They don't sway, and for this reason you can work the bag with as much force as possible. They are also normally soft, so beginners can wail away. They allow for learning unconventional kicks, like double kicks, spinning kicks, side kicks, etc without having the target move around so you can really work the form, and develop your power.
Moving bag man are great, because you can work your power, and if the bag man is any good, he should be moving like a real opponent, thus you can develop your timing as if it's a real fight.
Sparring is great as well. You can learn to place your kicks and more importantly, you allow yourself to get hit. Everybody is a hero against a bag, but striking is awfully different when the bag hits back. Many different ways to spar (open hand, light sparring, rough sparring), and all are useful. Just don't break any bones, as that will put you back a few months!
Most cities have MMA gyms that train pro fighters, if you're ever in Salt Lake City, UT, I'd check out Factum CrossFit and MMA | Factum MMA
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