When you're playing all of the stuff you're playing on the video you should have your picking hand anchored to the bridge Cliff. At least that's how I do it and teach my students as well. When I want to play fast and clean my hand always rests on the bridge.
During Legato you should always keep your palm on the bridge. Very important to having a clean fast sound. Being fast is more about being clean sounding more than fast buddy. Remember that. Speed is an illusion created by the backing track a lot of times.

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