I think I am right that Dan Inosanto's original training in MA was as a Judoka before he met up with BL, so i guess Gi work and grappling is familiar territory to him. To be that nimble, and that full of willingness to learn and improve after nearly 3/4 of a century on earth is phenomenal. I wont open up the 'what if' hornets nest, but I will say that if BL was still with us, he would be doing very well to be keeping up with his top pupil in 2007.
Don't let the door hit ya' where the good lord split ya'