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Well, the v-iz, na-c. k-ot for motion verbs is a proper model with few, dont think any exceptions that i am aware of. Thats why its taught that way in text books.

Getting a feel on when to use...

well, how about saying to the factory then? na zavod? c zavoda. Actual place you can go into

If we are dealing strictly with motion of iz, ot and c (leaving all of the other stuff aside, ie from pain, etc,) there is a system. This is just for motion verbs.

v uses iz
na uses c ...