Yan tried to secure the knee and use the crossface to off-balance Figueiredo.
Figueiredo essentially used a modified "technical standup".
Posts on the free hand, underhook side framing.
Brings back the free leg, creating more space.
Steps back with the controlled leg.

Figueiredo got the underhook.
Yan sprawled with a cross face.
Figueiredo scooted that butt back as far as he could get it while retaining the underhook.
Underhook acted as a frame throughout.

Without control of the upper body, the hook became relatively useless.
Figueredo shifted his hips as Yan postured, and turned into him.
Yan tried catching the hand as he turned.
Potential options available to him if he did secure it.

I like this sequence a lot.
It isn't flashy, but there's nice details that should be noted.
A little defensive grappling 🧵

Clasped the grip over the hipline.
Lifts and drives Whittaker forward, forcing him to post.
Slides the grip up his body and replaces with the hook.
Anchors himself and drags Whittaker right back down.
Control was established and improved seamlessly.

Very nice.