Things, no doubt, have changed at Yaesu over the years. I remember 20+ years ago, I walked into the Yaesu display area at Dayton Hamvention and showed John Lynne, Yaesu USA's service manager at the time, the broken rubber plug for the speaker-mic jack on my FT-23R. John reached behind the display for a small multi-compartment parts box, pulled out two replacement plugs, and handed them to me. Free of charge.
I've heard anecdotal evidence of Yaesu doing the same thing these days when it comes to small parts. It wouldn't hurt to ask.