Understand the trigger
Build momentum before entering a structure or close engagement. Sprint long enough to prepare the destructive slide, use terrain and cover to control the angle, then slide-kick only when the contact will not leave you exposed. The temporary fire-rate and reload improvement matters most when you already have a weapon suited to a quick follow-up.
Read the ability as a condition followed by a benefit. A strong route gets the companion before the condition matters, then preserves enough time and inventory flexibility to activate the effect repeatedly.