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The improvised section of Miles Davis's Milestones alternates between two chords - Gm7 and Am7.
To improvise over them use the corresponding scales of G Dorian and A Dorian
Take care to count the 4 bars of Gm7 that happen after the Am7. They run straight into the Gm7 that re-starts the cycle, so it's quite easy to lose your place if you're not paying attention.
Zydeco Shuffle or Boogie Woogie
Dorian-mode Jam
