Re: do a technique or flow into one?
When you are a beginner your uke should be giving you an attack that allows you to work on the technique that has been specified by your teacher. Later on down the road in your training you get to start exploring and sometimes if the situation indicates that the technique you are supposed to be working on won't work you find the one that will.
But yes the goal is to get to the place where you are not doing aikido to your partner but that the aikido just naturally happens as you blend with the attack. I'm just at the point of starting to really explore that area of training myself.