Based on Chapter 20, is it possible to witness past events at Shirdi, and what method is suggested for doing so?

Yes, Chapter 20 suggests that it is possible to experience past events. After describing the scene of Baba distributing Udi, the text acknowledges, "Though that cannot be seen now, all those past celebrations..." However, it offers a method to access these memories. The chapter states that "through the power of firm meditation" these past scenes "become visible." It encourages devotees to meditate on Baba's form, from his toe to his face, suggesting that focused contemplation can allow one to connect with and visualize the historical moments that took place in Shirdi.