How do I express myself freely on the piano keyboard?

I want to learn how I can express myself freely without thinking too much like those who jam. How do they do it? I know practice is involved, but what kind of practice? What do I have to learn? When I try to do so, I'm kind of limited. I know major and minor scales with the chords in them but I want to express myself with other chords that aren't in the scale.

How do I get better at expressing myself?

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