At this point it's accepted that "freestyle" doesn't necessarily mean off the dome.
But you should get extra credit if you do try to go off of the top.
During A$AP Rocky's appearance on Snoop Dogg's internet show GGN guest and host drop seemingly spontaneous freestyles over the beat of the Mobb Depp track 'The Realest'.
What do you think of A$AP and Snoop's freestyling skills? They certainly didn't let the weed get too much in the way.