I agree with the above, but would add something that helped me getting back into shape after a break. I did lots of slow practise on basic exercises, and although I played slow, I brought the fingers in very fast to quicken them up again. I relaxed after each note, and exaggerated the speed of my placing. Lickety split lightening placing, but slow playing. Same with raising, I exaggerated the fall back onto the strings and placed very quick – “splat” onto the string. Chordal exercises, where you play wide chords and fall onto the strings in one block I found useful too. Also quick alternating (flat) chords with lots of wrist action away from the strings
I agree with the above, and would add that you should already be relaxed by the time your fingertips reach your palm. I don’t favor lots of wrist action in the alternating chords, just a bit, but with free lever-like movement of the lower arm. I find it gives stronger tone, and there is no wear-and-tear on the wrists.