They are opening with Elegua's steps. But I don't think that's Elegua's rhythm...
These steps might appear in rumba but they are folkloric/religious steps. They signify opening a pathway (like pushing aside the undergrowth).
They only dance 10 seconds of Eleguá from 20-30. Yoruba Andabo has a very good DVD out where they have filmed one of the legends of the orishas partially in a jungle setting and partially from a performance at a theater. Highly recommended. It also has some abakuá stuff.
Eleguá
youtube.com/watch?v=GFMa306jiHU
Abakuá (not from the DVD)
youtube.com/watch?v=6k6XuEM7nXI
Then yes some guaguanco type moves, done without much passion... (but I can criticize from my office chair... I'm not convinced my rumba would be any better)
I would never even have thought they were dancing guaguancó if I saw that. The steps she does are actually closer to traditional cumbia and generally women don't keep their hands on their hips when the dance guaguancó although I suppose someone could choose to do it to temp the man to try a vacunao. I think his body language is closer to guaguancó than hers but geez maybe even paso doble-ish or dare I say mariachi type steps???
I like this video with Yanek and Yanet. They mix in several different Orishas with the salsa dancing. I can recognize at least Eleguá, Ogún, Yemayá and Ochún, probably Changó is in there as well but I'm not that good at recognizing all the different steps of the various Orishas and I don't see the Changó steps that I recognize.
youtube.com/watch?v=FWlmnlBGIfM
I have terrible speakers on my laptop and since I'm out of town for the moment that's all I have so I can't hear the percussion very well in the Excelecia song. I'm sure it's not Elegua though I don't know how rumba-ish it is either. I assume Sweavo is right about all that. The 6/8 abakuá thing is probably used a lot more in Cuban salsa as is guaguancó.
The song
Manana in the player below has some nice use of what the band refer to as "abakuá efectos" during the mambos at 1.56, 2.05, 3.00, 3.27 and 3.36 and the song ends with a little 6/8 section.
reverbnation.com/richardortegaylajugada