Kimahri’s Overdrive allows him to learn abilities from enemies and use them in battle. Called Ronso Rage, Kimahri will need to use the Lancet skill on specific enemies in order to learn the abilities. There’s a total of 12 abilities, with Kimahri coming with one and learning another during a forced tutorial. None of them are missable, so visit the page linked above to find all of the enemies that yield Ronso Rages.