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Yes, he did inherit Hagoromo's Physical Energy. However, that doesn't mean he inherited Rikudou Chakra because Rikudou Chakra consists of both components: Rikudou's Yang + Rikudou's Yin or in other words, Asura and Indra as stated here:
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How did Asura inherit Rikudou's Chakra when he needs another component of his Chakra to awaken Rikudou's Chakra? Makes no sense.
And to further support this:
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Rikudou has both Powers whereas Asura and Indra individually, only have one Power, hence why they each only have a component of his power, but they don't have Rikudou chakra.
And again, you are wrong. I know you're shitting me with the whole, "Herp derp, his name's not Asura Senju," but if you read the manga, then it's confirmed that the origins of the Senju and Uchiha's Physical and Spiritual Energies (respectively) are Asura and Indra:
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But I already addressed that a little bit with my previous scan.
With what Asura displayed, he likely did use Rikudou Senjutsu, but the only way he could've done that is by receiving the Six Paths Power directly.