that is focus on a point you know the object will pass and take the image when it passes your pre
Same. Almost always except when its too dark, then manual, and occasionally use continuous focus tends to be a bit hit and miss tho. My camera focuses using contrast so it might be a bit different for you.
You get an eye for judge the distance and compensating for height in jumps etc after a while.
Also if you pre-focus you can point the camera somewhere else to detect the right light settings.