I can't speak for the rest of the people here but at sparring I only go 75% or more. Like someone else here has said, you train like you fight.
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The best way to spar is how you would fight, allowing all techniques, with good (but not always heavy) contact. I think that should take up at least 70% of your sparring time. However the rest should be devoted to certain condition sparring like, one attacking the other defending, just hands or legs only. Without/with grappling, very slowly etc etc.
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