With very few arcs centred around yoda, it is really interesting to see his adventure this episode (even though he doesn't fight once). We see a side to yoda we never really saw in the prequels (as he didn't have much of a personality). He isn't as loyal to the jedi order as we expected. This episode he was willing to break a few rules and suggestons by the jedi in service of what he believes is right. He even asks anakin for help!
Review of Voices
