Actually Yoga predates the Mahabharata. If we go by scriptures, then the Adhi Yogi, or the first Yogi starts with Lord Shiva. And there are mentions for Yoga to texts older than the Mahabharata.

Hahaha, these texts were very heavily coded and written in such an ancient language, sometimes it is hard to understand the relevance. ;)

I really love how you've interpreted the teachings to end duality from the Mahabharata.

Cheers