Thanks for the suggestions @Henry Ng Tsz Kiu. The episode was indeed strangely composed (it was more like a sketch, in some ways). I used the same melodic ideas but changed the whole episode so now the counterpoint is much better and fuller. Thank you!
I agree but also disagree. I agree that experimenting with well established forms or techniques while claiming that your experimentation is automatically, just by experimentation, as artistic and tasteful as the canon is a mistake. However, I believe everyone can experiment with anything as long as their experimentation is non-serious and not claiming to be establishing a new artistic accomplishment. I agree that for being artistically experimental (in other words, for doing experimental art) one needs to learn the techniques properly, and to properly distance themselves from the mainstream of those techniques in artistic and tasteful ways.
But I do think that anyone can (and at times they probably should) play around with well-established techniques (regardless of how many years old they are) even before they excel at those techniques, just for the sake of playing and investigation.
Of course, only doing that while never studying the techniques properly is where the problem lies. The problem is caused when someone never learns the techniques of the past properly and are always composing in superficial ways based on those techniques while claiming that what they do is incredibly artistic and valuable.
Thanks for your comment since it gave me motivation! I wanted to learn fugue properly from long time ago but, since I know fugues are really complex both to compose and to play, I was delaying that as I did not feel my piano skills were good enough to studying and playing fugues at the piano. Thanks to your comment I was inspired to start that long journey. So I started learning my first prelude and fugue from the Well-tempered clavier and studying counterpoint in a systematic way, so in many months (or years) from now maybe I can write a nice piano fugue that I can even play myself! Thanks, @Luis Hernández!