Great summary, I have watched several Chris Voss talks/videos but some of what you shared is new. Can you give some examples of "saying no without saying no"?
Instead of no, say “how am I supposed to do that?”
To add to this, the author mentions multiple times that tone of voice is extremely important when using this technique. A demanding tone of voice will only backfire. Ask that question in a relaxed, non-demanding, joyful voice.