Yisro - Insiders and Outsiders

The Medrash tells us that Yisro added on a chapter to the Torah that otherwise would not have been taught. How could this be so? In this shiur, based on a sicha from the Lubavitcher Rebbe zt"l, Rav Burg explains the difference between the approach of Yisro, the ultimate outsider, and Moshe Rabbeinu, the ultimate insider. Should we be our best self or our most authentic self. This is the core of the Machlokes between Moshe Rabbeinu and Yisro.