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There's no way for him to have predicted BZ, just like there was no way for EMS Sasuke to have predicted getting caught by a Limbo in mid air. I don't really see a huge difference, regardless of being in battle or not.
And yes, it would have gone differently.
But like I said, when going into battle, you're prepared to face anything. You have your guard up.
They go in without knowing the enemies arsenal as it is.
Nagato's Bansho Tennin and Shinra Tensei are invisible and so is genjutsu. But I wouldn't compare that to backstabbing a comrade.
Black Zetsu attacked Madara when he was talking and had his guard down.