With a coaxial, you won't have the innate tendency to yaw anyway - no torque to counteract, no drag from the transmission. So, all you are doing is making minor corrections here and there.
So, if the nose goes left, you squeeze on the right pedal - the aircraft decides how to do it, but the end result will be that the nose goes back to the right as requested. The changeover zone would only be a poofteenth of a second, and you again end up with the desired result.
But this is a guess, I have little idea of how these work.
