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How do I improve at the endgame?

The endgame is certainly the most interesting aspect of a chess game, but it is also one that is hard to study and my games are rarely decided in the endgame at this stage. What are your recommendations for endgame study? Studying theoretical endgames seems a bit specific as I am much more likely to see a position with rooks and many pawns than just KRPvKR, so what I'm really asking is how do I improve in endgame technique? How should I be improving in the different types of endgame (pawn endgame, same and opposite coloured bishops, rooks with or without minor pieces etc)?
What exchanges should I be aiming for so I am well prepared for the endgame?

May be a path to walk through.
Do you often play endgames ?
What type of endgame do you meet frequently ?
Which one did you lost ?

I don't often get to endgames in my games, simply because I'm likely to make a tactical blunder before then. However, I do every now and then get to pawn endgames and endgames with rooks and pawns. As I play the Catalan with both sides though I do frequently reach typical Catalan endgames - here is a Catalan game I lost in the endgame:
lichess.org/CHwXbHhDKLW3

(the game above was lost due to a blunder, but it was quite difficult to defend the pressure)

"What are your recommendations for endgame study?"
Study one endgame per day only.
"Studying theoretical endgames seems a bit specific as I am much more likely to see a position with rooks and many pawns than just KRPvKR, so what I'm really asking is how do I improve in endgame technique?"
Yes, but you must know the theoretical endgames: you must know which KRP vs. KR or KRPP vs. R is draw and which is won to play R+many pawns vs. R+many pawns.

" How should I be improving in the different types of endgame (pawn endgame, same and opposite coloured bishops, rooks with or without minor pieces etc)?"
You should have some basic knowledge of the theoretical endgames first. You can set up a position with 6 men or fewer, try to find out if it is a win, a draw or a loss, determine how you would play and then look at the exact table base solution.

"What exchanges should I be aiming for so I am well prepared for the endgame?"
If you have an advantage, then trade pieces, not pawns.
If you are at a disadvantage, then trade pawns, not pieces.
It is for this reason, that rook endings happen so often. The weaker side will avoid trading rooks and enter into a lost pawn ending.

You get probably worse endgame but probably it was drawish.
32.Rd1 was bad because you lost important tempo.
Your rook on b1 was good, now king (from c7) defending b6 and black rook is free to run. Better was Kf1-e2-d3 as fast as possible.
Don't lose tempos and don't go for engames where you are under pressure.

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