Yes, receivers will have just the one HDMI OUT port labeled ARC or eARC and TVs will have just the one HDMI input labeled ARC or eARC. While eARC devices do not require HDMI Control to be enabled to work, you will need to turn it on in the TV and Yamaha to get ARC to work. HDMI Control can be sketchy.
Samsung calls HDMI Control “Anynet+”. It can be turned on in the External Devices section of the settings menu. In the sound settings, make sure audio output is set to Receiver.