It would be wasteful and difficult to keep a body at optimal for rapid motion all the time. This would be like keeping a car engine running all the time. It wears things out and wastes fuel.
Stretching and warming up is a way to protect yourself. In an emergency you can, of course, do stuff immediately – it comes with higher risk of injury which wouldn’t matter much if, for example you need to escape from a chasing lion. But if you’re exercising, there is no reason to risk injury.
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