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The practice of freewarping is simply to activate your ship's warp drive without having a navigation point ("navpoint") or any other objective targeted in your ship's navigation computer. This lets you point your ship where you will and then visit hidden navpoints and other parts of space that are "off the beaten track", away from the posted navigation pathways.
Newer pilots who have a low-level reactor in their ship will discover that freewarping is frustrating, as the practice will consume so much energy that their ship will drop out of warp quite quickly. However, as you progress to higher levels of reactor, you will be able to free-warp for longer distances.
To remove a target from your navigation computer so that you can free-warp, do a right-click in the scanner window at the bottom-right corner of your screen.