Are there any books you would recommend that has detailed information on those same topics which explains how to perform the various techniques?
Sorry, I don't know of any such books. Maybe somebody else on this forum has come across one?
In my Attacks in Aikido
, there's really no more about kaeshiwaza and henkawaza than you find on my website.
I might get around to making a few videos...
Well, I show some simple henkawaza in this clip:
I regard kaeshiwaza as a way to refine the aikido techniques, so that they become less and less possible to counter. That means kaeshiwaza should by time be impossible to do - but that takes a lot of time.
And henkawaza is almost the same: shifting from one technique to another is a way to solve hard resistance against the initial technique.