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 break…
Synchronous logic does imply some syncing and yielding could be a way to sync - which is what i expect you mean.
Asynchronous logic is concurrent without sync or yield.
Concurrency and asynchronous logic do not exist - in real form - in von Neumann machines