I did a Yoshi tune on my 07 just to try it out and i hate it ..They can not fine tune your bike as much with the Yoshi or Teka tuning the stock ECU ...

Power commander you can do yourself with a laptop anytime you want and it is adjustable while in the middle of a dyno run ..

The teka box and yoshi box you have to pull the bike off the dyno and adjust it then back on the dyno and start over again ...