I’ve practiced this two ways and I one feel more natural. For ura techniques, the footwork is similar for both Aikikai and original O-Sensei styles. Omote is another story so I will focus on ura here.

Both in gyakuhanmi hidari katatedori.

Atemi is important and helps the whole body move. Rotate the hips as soon as you are grabbed so your right arm has more reach toward and through Uke‘s head (but don’t snap or hit). This hip rotation helps the body into position for your left leg to slide out and back, while your right leg slides left and forward. Your hanmi should have changed into a solid migi handmi.

Here is the interesting part. Some people pull Uke into themselves, others don’t pull at all. Pulling and extending are two different ideas. I prefer not to pull because when I am pulled I tend to keep going in that direction (think of a bull in a china shop). Instead, it feels right to, when in migi hanmi and out of the line of attack, to extend Uke‘s arm by lowering your weight onto his bicep then elbow crease in a sliding motion. This way Uke‘s only momentum is down and not hurling into you. Ben Sensei does this beautifully.