If you can move to include your last step with your swing rather than putting it with your movement you will have a balanced engaged body just prior to strike allowing you to focus energy on the hit and also helping you to clear early.
This skill is part of what makes good players look so capable and part of the reason they have so many options and abundant power, it takes a little practice and you will not be able to do it on every shot but you should use this method whenever possible.