A lot of it is just a matter of repetition, getting the skill good enough for it to be landed standing straight up.
For a drill, back tucks off beam stuck on a mat, jump twists off boxes stuck, pretty much anything off a box stuck. You can even make a game out of it, who can stick the most skills in a row before they take a step?
What helps for sticking is bending your knees when you land, pressing your toes into the mat, and spotting something if it's a flip/twist.