Not a bad way to plan (static vs dynamic).
The routine your cyclist friend gave you sounds like something I tried wayy back but it was based on taking a bodypart thru all rep ranges within a single workout...craziness. Your version...even harder, but I see how it would affect recovery. Maybe something to try in the future.
What I do, I always focus on what's most important at the moment, and if in doubt choose strength.
Is the undulating approach you ask about better...when you do the math, it will end up being the same, with better recovery in your friend's version in my opinion.
If a routine worked for you I don't see why not try it again with different exercises or set ups
