The sequences in the video are short enough to avoid a loop (at least for the clouds).
To make this seamless, you need to blend. If the blend it smooth enough, the loop will appear to be seamless. Only if you look VERY closely, you'll see the blending.
The best practice is to create the animation with keyframe from start to finish.
Next step is to cut the layer in halfway. You can do this with the shortcut CRTL+SHIFT+D.
Next you move the behind half to the start of your composition and the first half behind it (actually switching first half and second half).
If you play your composition in loop now, the end and the start will be seamless, but there is visible cut in the middle.
The last step is to add a blending on this cut in the middle, large enough to hide it as good as possible.
Now you can add this composition in another, longer composition and apply loop-expression on time warp.
*Martin
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