I am not really sure why Fugakukai has competition in Judo and not Aikido, other than the fact that..."and this is just how I veiw it," Judo is considered mostly a sport as opposed to a martial art. Though it clearly has attributes to be good for both. I think it might be interesting to see Aikido as an olympic sport...lol Would be hard to keep competitors in a ring or on the mat...they'd be tossed all over the place...hehe You have a good question...just one I am unable to answer.
I do believe that sparing or randori or whatever you term it is essential in learning self-defense. But since self-defense wasn't why I took up studying Aikido...I can take it or leave it. Hope I didn't babble too much.