As far as I know, prophet [sal] never did a vivaadham with muslims but he did vivaadham with non muslims like christians nd muslms...there can be discussion with muslims..discussions shall give way to accept right view eventhough it is from whtever side. but vivaadham always makes people increase their obstinate nature and not giving fruitful output. This is my view and it may be wrong.
Assalaamu alikum...classification was used among the scholars in order to explain it in a better. whatever quoted in this lecture is good except the speaker uses the term those who reject tawhid al-hakimiyyah as munafiq and murthaddeen,kaafir..no one rejects as either way they put this term tawhid alhakimiyyah on other three categories.moreover, it is also not right to say khawarij coining a new tawhidh category tawhidh al-hakimiyyah.