My son was diagnosed with apraxia, I guess a different degree of dyspraxia, when he was 2. Our OT said it was related to sensory processing difficulties, as he could not sense gravity well and also could not feel where his body was positioned (low vestibular and proprioceptive input).
He also had hypotonia (severely relaxed muscles and ligaments), which I know cannot be changed, but I believe his motor planning is getting better.
My husband never got OT when he was little and still has problems. He can trip on a painted line on the ground because he doesn't lift his feet. Plus he has no idea how hard or soft he is touching people, so he makes a horrible, horrible masseuse. He also has terrible personal hygiene. But he actually drives really well, so I think his vestibular sense is okay. Of course, his brothers still tease him to this day because he can't throw or catch a ball worth beans, and he runs really strangely.