Yes, I saw him in 1982, one of couple of nights of comeback performances (first in the UK for over 10 years) which was filmed and televised - Hammersmith Odeon. The atmosphere was incredible and as I recall it the band included Stern ( in Van Halen mode), Bill Evans, Minu Cenelu, Marcus Miller and Al Foster. They kicked off one of the sets with ‘Ife’ - a nice link with the 1970s band.
Miles hobbled on in 82 with the aid of a walking stick I recall but he was in stronger shape in ‘85.