Example of Abu Bakr
Acquiring Ihsan requires a level of preparation. We can’t practice ihsan without proper planning and readiness.

One of the best examples is the example of Abu Bakr, may Allah be pleased with him, who applied excellence in everything he did. When the Prophet (sas) gave permission to the companions to migrate to Madinah, Abu Bakr declined to migrate with the companions, secretly hoping that he could accompany the Prophet (sas) on his journey. While he was waiting, he readied two camels, fed them, and made sure they were ready to leave at a moments notice. This is true Ihsan; it is not only doing the action itself in the best way, but preparing for the action in the best way.

[1] Usul al-Fiqh are the principles underlying fiqh (religious jurisprudence); in other words, legal theory.