Hey Brandon. Yes Miles most definitely would have deviated from the typical Dorian scale, to create a strong cadential pull. As soon as you start to add the B natural (maj7) you end up mixing modes, or you switch to the harmonic Minor.
This is the main way you’d use this scale but it’s not the only way. I’ve left it open for another video. As you rightly say, you can think of Dorian in different ways, such as miles Davies in So what, where he moves through different keys while still using Dorian mode, and that creates tension, so you end up with a chord progression and the mode following the chords rather than the key.
So you hear a lilt in that track as they typical 251 progression is played, as the mode switches on the 2 by a 4th briefly. There are other parts of that track that deviate further but this is the easiest to comprehend as you get the major chord outlined with a dominant sound. Very good piece to compare Dorian to, but a bit too advanced for an intro video
Thank you for your feedback, speed is something I’m not quite good at yet, so I’ll definitely try to be a bit faster.