The transformation from Ueshiba's training that he did personally to today's Modern Aikido is one of the major changes that Kisshomaru and Tohei made. IMO, if you want to train Modern Aikido, train in the dojo. If you want Ueshiba's training model, it is fairly specific but can be done anywhere and everywhere.
Tohei had the taiso, which were distilled from what Ueshiba was doing, and can be done anywhere. Doesn't mean they'll be done properly, but he clearly had something for outside the dojo training and something that, if done properly, will help everything inside the dojo.