I do mine on a domestic machine, all improv -- no patterns marked. Practice helps a lot, as does having a stitch regulator (Bernina is the only domestic machine with one on the market).
Interestingly, after sewing with the stitch regulator for about a year, I find that my FMQ skills without the stitch regulator are pretty much the same as *with*. I've heard it described as training wheels for FMQ -- gives you the instant successes and confidence to build up the skills to go it all by yourself. I find that to be true.
RST