Yes, easily. You will need a PC to act as server to be connected to the radio via its USB cable. The bothways audio and CAT control signals will flow over this cable.
You will need to load client software on your remote PC. This is all available free of charge from:
https://www.remotehams.com/forums/index.phpIf you wish to control the rig from your Android phone the app is $10 in the app store.
These clients/server will also control switches (antenna is one idea) Rotors, (if equipped) and amplifiers.
full control of the rig, full xmit and receive audio, and full control of who can operate it (security)
Whomever you reached at Yaesu is uninformed or didn't understand the question.