The book says the scene of Baba giving Udi can't be seen now. Does Chapter 20 offer a way for devotees to still experience it?

Yes, it does. While Chapter 20 acknowledges that the past celebrations in Shirdi, such as Baba distributing Udi after the noon Aarti, cannot be physically witnessed today, it offers a method to experience them. The text explicitly states that through the power of firm meditation, those past scenes at their specific places and times can become visible to the practitioner. It encourages devotees to meditate on Baba's form, from his toe to his face, and thus maintain a connection with those sacred moments.