I think, to a great degree, Rock music and improvisation are inherently antithetical. If you are improvising, you can't have a rocking beat, a repetitive riff, a bassline that compliments the beat and the riff, etc. To rock, you really need stuff mostly planned. If you're Rocking, you can't stray too far from the beat.
Can & VU both had repetitive rhythms, riffs & basslines which they played with in an improvisational/situational way, but perhaps not significantly more so than The Rolling Stones when you get down to it.
Nihilist Spasm Band made noise. They did not rock.
The Grateful Dead made limpid musical wallpaper, they certainly did not rock.
Zappa was a control freak composer, and may have rocked slightly more than he improvised, but what he did most was funky fusion wank.
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