Morihei Ueshiba talked a lot about opposites working simultaneously. He didn't speak of ka without mi. There was fire and water. Yin and Yang. In/Yo. Upwards with downwards. There can be no forward without backward - both together. In turning, in stepping, in everything one does in aikido, Sending out while receiving in. Without that basic understanding, then one cannot truly begin to understand Ueshiba's aikido, IMO.
Yes. Nice theory and I agree with it. Every molecule and every universe and every motion has this intinsic to it. You still have to learn how to turn properly though.
What is a 'step' to you?