And he may very well have. But we never saw Obi-Wan teaching him to. Nor lightsaber combat, nor Force-jumping (to escape the carbon freeze), and surely neither Obi Wan nor Yoda taught him to Force-choke Jabba's guards. His Jedi mindtrick he learned from simply watching Obi Wan do it once.
So yeah, Luke has that same connection to the Force, like his father, and like his daughter/niece.
Now that I can answer..even though Luke didn't finish Yoda's
training. Luke learned enough to train himself after Bespin. That has been documented in the EU. Remember when Luke said he came back to Yoda to complete the training...yoda said " No more training do you require..Already you know that what you need "
In death yoda also said " The force is strong in your family..pass on what you have learned "
So Yoda knew Luke was ready.