The "marinating" HoG Historian mentioned really resonates. It takes time for those judo habits to transform. I was a shodan since '04, started BJJ at 35. My mat time was extensive, but it was almost a disadvantage for the first two years of BJJ. You have to unlearn the stand-up first, and then rediscover it.
We used to call this "tsukuri" in judo – setting up the throw. Drew's transitions from a judo context are all about that. Not just kuzushi, but the full setup. It's cool to see a high-level guy integrate it like this. My judo club in Chicago still rolls no-gi once a week, but it's a different animal.