I haven't played in a while, but for example you could start falling towards that position and then press square a bit later. Additionally, I'm pretty sure I made a broad camera movement with the stick and then used the gyro for finer adjustments, so I could easily press square to attack.
Also, I think you may be aiming/attacking at the wrong time. The flying enemies with a spear-like thing for a head who like to charge at you are way easier to hit after dodging their charge.
I'm pretty sure that the upgraded kick is faster and homes better. So yeah, it would definitely help.
Yeah, I adopted that approach for some encounters. I usually shot myself directly up in to the sky with 'X' and let myself fall guiding myself to the point I could engage. It help, but only in certain circumstances.
I also adopted dodge (R2) but that usually didn't get me closer to the enemy. Like I said, by the time I got to them they were off again. Enemies that charge are in your screen space to start but then have moved to the rear out of view. Depending on your own momentum it may take what feels like an age to regain line of sight. It's annoying.
I disengaged the gyro because I didn't like it, unfortunately.
Anyways it's done. I still absolutely adore the game. The story is well told and really immersive, the game, generally, is imaginative and the presentation is immaculate.
I still want another one but the door seems to be firmly closed.
Bravo.