I try not to compete with my teammates all the time. When parameters are set, by anyone, injuries have went down and everyone gets more mat time. What I'm doing is spontaneous positional drills. Everyone does them, we just freestyle sessions more. We agree as a team to progress in one aspect of the game. If my tap is ignored, I know you are in competing mode. All good and necessary. But if I sweep or pass, you can't make me keep side if I wanna pass again. But yes, you can keep me in side.
Passing and retaining guard is our weakest point. So I steer our practices that way. They were annoyed when I first started. Now they're better.