Remember, Vaders meditation chamber is on his Superstar Destroyer, so instead of the current ROTJ opening you pan down from the crawl to his ship and cut to this scene.
Next we would cut to Luke building the Saber, because he has to give it to R2 before sending them off to Jabbas palace.
THEN we would cut to Vaders Destroyer reaching the DS2, the shuttle taking him aboard, and then cut to the droids walking up to Jabbas.
No, it was originally between the Jerjerrod scene and the droids walking toward the palace. The complete musical cue of the first few minutes of the movie has music for the deleted scene in that location.
This clip cuts away early, as the music is longer. There is lighthearted "droid music" that suggests that Luke said something to Artoo, and perhaps Threepio piped in as well.
As for Daniels not remembering this, in one of his columns he actually wrote about going with Lucas and a very small crew to Death Valley to shoot the background plate of him standing outside the cave, as a pickup during ROTJ postproduction.