The Aleinu Prayer: Recovering our Ancestors' Vision & Redeeming their Pain

Jews pray the Aleinu prayer three times a day to end every service, which is weird because it was composed just for Rosh Hashanah. How did this tradition develop? And should we, like some Jewish denominations, eliminate or change it out of embarrassment for its wishing all nations to bow down to the true God? Listen before you make up your mind.