You wrote that you'd like to understand the changes better, but it sounds like you are playing well within the changes of the tune. I'm not sure what you think you are missing there. For the most part, I think your time is pretty solid, which is something with which a lot of players struggle. Good job there! Plus, I like the tune. Solid melody and performance by the group.

Let's zero in on your improvisation. Overall, you have good energy and are pretty solidly within the changes. My question for you is: what would you sound like if you weren't as focused on the scales and fast notes - specifically the minor pentatonic scales? That's your go-to pattern, both at the start of the solo and the beginning of the bridge. That G minor pentatonic is well-rehearsed and comfortable under your fingers, so I understand why you use it. What is the alternative? MELODY.

As one example, listen to Herbie play Cantaloupe Island on the Empyrean Isles album. Herbie starts his solo just before the 3-minute mark. Herbie has the chops to start his solo with a flurry of F minor pentatonic scale patterns, but instead he plays a simple melodic phrase, and then plays pretty much the same phrase over the Db7 which reinforces the melodic power of that simple phrase. He then creates a variation on those notes. He does something similar when the form starts again. Notice that Herbie uses an economy of notes throughout his solo. He's playing simple phrases with variations. When he plays faster, those fast notes are like ornamentation, not the focus of the solo. He's using space to 'frame' his phrases. That use of space that frames good melodic phrases and variations is what produces quality music that your listener will appreciate.

Your goal is not to sound like Herbie, me, or anyone else. The goal is to improvise engaging music that is satisfying to your and your audience. Learning the theory of this music is beneficial, but my advice is to worry less about 'understanding changes better' and more about listening to the music inside you and reflecting that on the piano. You have the chops and you hear the time. Now, use those abilities and focus more on building/improvising music than relying on the flash of fast scale patterns.