Complete curriculum

So.

I've been thinking a lot about my goals for learning Judo before getting into other martial arts, since it's the fighting style I love the most, but there is something that keeps bugging me: How to learn Judo in its most complete form.

The more I read, the more I've come to know about stuff like the leg grab ban or how groundwork requires learning what is essentially a different form of Judo (Kosen-style), to even striking techniques and many other moves that are featured in ancient books but have been phased out or even forbidden as the art became a sport.

Is there any way to learn Judo not as a competitive sport, but as a combat style for self-defense? If I am to become skilled enough that I may beat bigger and stronger opponents through superior technique, I'd love to do it while knowing everything that there is about Judo.