Great, it's a newish model.
Are you connected to the unit, via your home network? Preferably with a hard wire connection, an ethernet cable? Wi-Fi will work but the connection can be unreliable at times.
If so, find out the IP address (should be ID'd on your home router's web interface), open your web browser, put in the "IP address/setup" in the address bar and you can modify various settings, including the YPAO settings.
I also highly recommend you do a backup before & after you make any changes to the unit (settings/firmware upgrades/etc.). It will save you a lot of heartaches if things go south and you can fiddle with the YPAO results to your satisfaction.
And whatever you do, don't use Wi-Fi to do a firmware upgrade. You don't want to accidentally brick the unit. If you can't get a hard wire connection to the unit, just go to the Yamaha support web site and download the firmware upgrade for the RX-A2060 and copy it to a USB flash drive. On that same Yamaha web page there should be instructions on how to load it and the instructions can also be found in your owners manual.
Good luck, enjoy.