Both of the following photographs were made from the hip using a Yashica Mat-124G TLR.
The camera was suspended around my neck on a comfortable wide cloth strap. I wore a worn jacket that had holes in the pockets. The shutter release was connected to an air bulb inside the right pocket, with the air hose passing through the jacket lining. This way I was able to walk around with both hands in my pockets and still release the shutter.
I had a handheld incident meter that I used to establish both sunny and shady exposures. I then alternated the shutter speed based on my intended subjects. The viewfinder hood remained closed.
Framing was worked out in advance at home with the camera on a tripod at the simulated height, and pieces of masking tape stuck to a garage door showing the angles subtended based on the distance. A comfortable depth of field was worked out and then those exact same settings were used exclusively in the field. I knew my subjects all had to be positioned inside that predefined three-dimensional "box".
Medium format was chosen specifically to allow the flexibility of cropping deep into the negative. This allowed for correction of both compositional errors and inadvertent frame tilt while in the darkroom.
One nice side effect of this setup is that the camera was enough of a visual novelty that in many cases it assured the subject's eyes were looking directly into the lens as they checked it out, and thus also directly into the eyes of the eventual viewer. The subject just saw a cool looking old camera hanging around some guy's neck, and never realized it was also actively looking back at them. The first photo below is a good example of that effect.
Photo #1: Blind Date
Photo #2: Looking