This is wrong. Certainly the Yamaha displays its OSD setup info over HDMI.
What it does not do is superimpose the OSD over program video over HDMI. It is one or the other - when OSD is selected, the program is automatically blanked.
I do not know if it superimposes OSD over program video via analog outputs or not - never tried them.
The $549 MSRP Yamaha RX-V663 is an excellent AVR ... best bang for the buck I've seen in a long time ... $349 delivered.