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ad-lib has 14 distinct synonyms spread across 3 of its 4 senses. Each sense below keeps its own list, because a synonym belongs to a meaning and not to a word: swapping one sense's substitute into another sense's sentence is how a thesaurus makes writing worse. WordNet records no antonym for it — antonymy is a relation between word forms rather than concepts, so it is deliberately sparse.
Counts are distinct word forms across every sense. A synonym that appears under three senses is counted once here and shown three times below, under each sense it belongs to.
with little or no preparation or forethought
“his ad-lib comments showed poor judgment”
said or done without having been planned or written in advance
“he made a few ad-lib remarks”
remark made spontaneously without prior preparation
“his ad-libs got him in trouble with the politicians”
Synonyms, antonyms and the broader and narrower relations for ad-lib come from Princeton University’s WordNet. Full sources and licences.