Most of the time, goshin jutsu
consists of defense from grabs. I guess this has to do with the fact that dealing with punches and kicking techniques is the usual in any karate school.
The grab of the wrist or lapel should not be considered to be the
ending technique. This is the control before the actual attack. How
can you be hurt is somebody is simply taking hold of your lapel? In
the kata, you can take your time, in reality this is off course not
the case since the attack will smoothly and immediately follow.
Freeing yourself from a grab is called tehodoki. Grappling styles such as aikido, aikibudo and daitoryu aikijujutsu
empasise on the instant of kuzushi, that is, to unbalance. This "aiki"
is a very refined timing and internal work that responds when the grab is not fully
finished.
Wadoryu, however originates from Yoshin Ryu jujutsu which
is not an aiki style, so we are not familiair with
aiki movement. We are familiar with the kuzushi factor however. You can do kuzushi with atemi too.
The most important in goshin jutsu or a practical situation is the
automatic fast response. All kansetsu waza or joint lock technique
is secondary to the defense and the first counter.
To execute this first automatic response training in full effort
is required.
The video below consists of a basic explanation (in Dutch actually) on tehodoki. What emphasized as most important is using the whole body. Drop and position the body, twist sharply and connect the whole body. Free yourself with the body, not with a twist of your hand. Use your whole body effectively.
KUMITE 組手