If the animation is done first, do the actors have to remain strictly to script leaving no room for improv and also have to nail their timing?
And if the acting is done first, how do they time it? Do they have to do it blindly, only by imagination?
It depends on the medium, for cartoons the script is written first, then the animation and finally the voice actors will review the animation and match their voice to the scene.
You can see the voice actor for Pikachu record her lines on YouTube.
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