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A legitimate typically focuses on four pillars: Chord Scales for Fusion, Outside Playing Techniques, Motivic Development, and Rhythmic Displacement.
Henderson is famous for "outside" playing—hitting notes that sound wrong before resolving beautifully. His PDFs contain a specific exercise called the "Two-Note Slide." You take a simple blues lick, but you slide the entire shape up a half step, then down a whole step, before landing on the third of the chord. This creates that signature "drunken" fusion sound.
Henderson's method emphasizes using specific scales and arpeggios as "tools" to navigate various chord types while maintaining a melodic focus. Scale Application