It’s probably a horse a piece at this point. The main differences would be between audyssey and ypao. IME audyssey is better overall, and the app is handy, although a little hard to read on a phone. There’s a web version, but it’s 200 bucks, but it’s more granular. If your only using RC to set distance and level, then the one with the interface you like better would be the one I’d get. They’d really sound the same in direct modes so…
I don’t like Yamahas simply because of the menus and proprietary language that only serves to confuse, and not much else. They do make high performance gear. I just don’t like navigating it. I use a 6012 with a Yamaha pro amp on my mains. FWIW.
A real upgrade would be to the subwoofer.