I think part of being "joyful" on the mats for me is a combination of many things.
Like discovering something about myself that I did not know before, or learning a new thing, or having a great partner..or maybe having a challenging partner.
So it's probably what you bring into your training that will also translate how much fulfillment and "joy' we get from Aikido.
Attitude has a lot to do with it. I'm just glad to be able to practice it when I can with a body I am still learning how to manage. The discovery and journey is a happy experience enough as it is..
No, I haven't missed it. I hope nobody does.
I just love aikido practice.