Does Chapter 20 suggest a way for devotees to experience past events in Shirdi, like the Udi distribution?

Yes, Chapter 20 explicitly offers a method for experiencing past events. The text acknowledges that the scene of Baba distributing Udi after the noon Aarti can no longer be seen in person. However, it states that 'through the power of firm meditation,' these past celebrations can become visible. The chapter encourages readers to meditate on that scene, beholding Baba's form from toe to face and prostrating with love, as a way to maintain a connection with those sacred moments.