I can see aikido as a form of yoga in perhaps similar goals. Of course, there are different kinds of yoga some more esoteric than others. The commonest, hatha yoga, is I was told in my several years of yoga, a method to prepare the body for the more esoteric methods.
Aikido is budo, so it's not primarily concerned with fighting of any sort, other than the struggle for self perfection.
Amazing how DRJJ was/is progressive in it's training. Simple basics/fundamentals that are also effective followed by higher level principles that can the be applied to the effective fundamentals to make them even more effective.
Who'd have thought?
My primary Judo isntructor studied aikido as well. He discovered some interesting stuff to apply to our Judo training. Primarily to do with angles and posture, amazingly enough, but also movement. His brother was studying akikai aikido seriously at the time (he was also a judo brown belt). The guy was very centered and had excellent posture and movement. But in Judo randori he was relatively easy to throw when he was trying to only use Judo. You could see him concentrating so hard on being centered (which he was...you could feel it), but in the end because of the contact with grips, he was vulnerable nonetheless.
My experience is that, as apparently the judoka who Kano "sent" to study aikido, judoka of sufficient skill and experience can see the connections pretty easily and adopt/adapt them to their Judo, or Judo to aikido.
Steven Seagal to Ikido is what Bruce Lee to Kung Fu.
And...Steven could totally kick Bruce's ass (when he was younger).
I also think his fight scenes are better and more realistic than Bruce's.