1. Audyssey MultEQ will eq the subwoofer while the Yamaha YPAO will not.
2. Yamaha only gives you one global crossover which can be a problem if you have large speakers up front and satellites for surrounds. Not good if you want to crossover your fronts at 60Hz or 80Hz but the sats needs to be crossed over at 120Hz. Denon will let you have different crossover points for the Front, center, surround and surround back speakers.
If all your speakers are of similar size this may not be a problem and the V573 is a good price at $299.