That's exactly what Endo (and Tissier) are practicing, teaching, doing.
Don't see it???
If you don't see it - but that's what drives me. And I find it there.
It is logical contradiction - you can't learn to be independent of uke will if you always practice with uke who is following prearranged movements.
Nage must experience aleatory behavior of uke, and not only codified movements that are known to both students in advance.But such situation is forbidden in your style of aikido.