Since we can't go back in time, does Chapter 20 suggest any way to experience the events that happened in Shirdi with Baba?

Yes, Chapter 20 directly addresses this. While acknowledging that the past celebrations and daily scenes at Shirdi, such as Baba distributing Udi after the noon Aarti, "cannot be seen now," it offers a powerful alternative. The text states that through the "power of firm meditation," these past events can become visible to the devotee. The chapter encourages readers to bring Sai into their meditation, behold him mentally from his toe to his face, and prostrate with love. This practice of focused meditation is presented as the means to bridge the gap of time and connect with the divine presence and activities of Sai Baba in Shirdi.