This waza is not part of the official Yoshinkan Honbu grading syllabus, however is seen in many demo's. Some schools do it and make it a part of their training while others do not.
So to answer your question, YES and NO.
As I understand it, it is yet another way to show/practice proper timing and distance. As to its origin, I'll defer to those on this forum who practiced at the Yoshinkan HQ or in Japan to answer.
If you require any more details, I suggest you write to the honbu and ask. Their e-mail can be found at www.yoshinkan.net