Again, this is a complete misunderstanding of learning and coaching athletics. You drill in either static or non competition scenarios to create muscle memory and refine technical issues. This slowly evolves as the athletes progress in technical mastery, but never really goes away.
Let’s use baseball:
Little kids practice their batting stance. How to hold the bat, feet, head, distance from plate, etc. As they progress they move to a batting tee, then slow pitch drills, the a coach pitches, then live batting practice, then games.
As they get older and more refined they no longer drill their basic batting stance, but drill correcting their swing on the tee, scenarios in the batting cage and during batting practice, live batting practice, scrimmages, games.
The evolution starts with some static and non competition scenarios to create understanding of the technical intricacies and allowing of the coach to make corrections. Then it evolves into application and competition based games and scenarios.
Without the technical understanding, explanations of context, static repetition to create muscle memory and refinement by a coach just putting a bat in a kids hands and telling them “it’s a pitch on the outside corner. Let’s see how you’ll naturally learn to deal with it” would never, ever, work. If it did, it’s how a sport like baseball would be taught and coached.
In BJJ this same formula is how you really develop: static repetition of movements without partner to learn basic concept, context and physical requirement, practice of movement with partner to create muscle memory, repetition of movement to further refine understanding, application in training scenarios with moderate resistance, application in specific training scenarios with full resistance, individual recognition and application with full resistance in organic training.