I started Aikido under Ikeda sensei almost 20 years ago and he has been my teacher ever since. In hindsight I see several general phases to what he has focused on in his teaching.
Thanks for the extended description of what you have observed with Ikeda Sensei over 20 years...what you wrote matches perfectly with my experience seeing him only in seminars over 20 years. But what you wrote is a much clearer presentation of the changes that he has gone through over time.
To others participating in this discussion...read Jeff's post carefully. He has given a real gift to this discussion.