We report a neutron scattering study of the magnetic excitation spectrum in each of the three temperature and pressure driven phases of URu$_2$Si$_2$. We find qualitatively similar excitations throughout the (H0L) scattering plane in the hidden order and large moment phases, with no changes in the $hbaromega$-widths of the excitations at the $Sigma$ = (1.407,0,0) and $Z$ = (1,0,0) points, within our experimental resolution. There is, however, an increase in the gap at the $Sigma$ point from 4.2(2) meV to 5.5(3) meV, consistent with other indicators of enhanced antiferromagnetism under pressure.
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