Suggestions for improvisation:
This version presents more of a challenge due to the 2nd section. Beginners should just go with the A minor only version of Funk for Miles.
For the A minor sections:
A minor Pentatonic.
A dorian mode.
Try E minor Pentatonic or B minor Pentatonic to spice things up.
For instance, while in A minor Pentatonic form 1, try E minor Pentatonic form 3 (both 5th position).
On this version, there is a section that uses:
|C7 | |D7 | |C7 | |B7 |Bb7 |
during which you can use the Major Pentatonics or Mixolydian modes of each chord respectively.