I kind of think the author simply pulled the concept of yielding execution out of the definition of concurrency and into this new "asynchrony" term. Then they argued that the term is needed because without it the entire concept of concurrency is broken.
Indeed so, but I would argue that concurrency makes little sense without the ability to yield and is therefore intrinsic to it. Its a very important concept but breaking it out into a new term adds confusion, instead of reducing it.
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