I remember thinking if I could only play drums like that, I'd be happy. I spent countless hours in my parent's basement, trying to pick up just a little of that style. What I lacked back then was a video like this in which the master gives away all his secrets:
There is a very cool series out there from the early 00's devoted to the making of several "classic" albums. I watched this one in its entirety:
Another favorite part of the title song "Aja" is the Wayne Shorter saxophone solo. You can skip right to 45 min 40 sec to hear about that.