I have and actively use both.
The active cooling (fan), and known longevity is great on the Icom, as I have used it for at least an hour daily for 11 years...
The Icom is also smaller, has two display colors, is much lighter and has a loud front firing speaker; my main pet peeve is that I still need the manual to do almost anything, even deleting a memory.
The Yaesu has a larger single color only display, just as loud bottom firing speaker, a better interface (the menu is one level deep and 59 items wide and operates with the relative ease of my older FT-2500M whereas the Icom has several different confusing menu levels and sizes), the Tx is over 80W in the middle of the band, it has better passive cooling (heat-sink) but my main pet peeve here is that it still DESPERATELY needs a fan. It is a gutsy radio though, and definitely tougher built, so it doubles as a weapon or brick. All of this is great, but only time will tell if it can outlive the Icom.