I am of the opinion that parking lot oil changes are only a necessity if your trip is significantly over 8k miles. Up to that, just do one before leaving (even if it's early) and another on your return. Sure, if you are visiting folks along the way a driveway change at a friend's place is great. In that case I wouldn't bother changing the filter, just the oil, as is prescribed by Yamaha.
I would, however, recommend using a high quality synthetic oil at the upper end of the viscosity spec range, if you are anticipating an extended change. The idea is that, with synthetic there is less viscosity breakdown with use than with a conventional oil, and even if there is some breakdown, the oil will still have adequate viscosity to protect the engine. For example, I think that Mobil1 15W50 is a good choice for extended changes. I'm sure there are others. I actually run that oil in my 3 bikes all the time as it is not much more expensive than the conventional oils.
Be aware that, like a motorman break-in, extending one oil change interval may violate the Yamaha factory (or YES) warranty. But realistically, it will not cause any harm whatsoever to your bike.