Emergencies are seldom identical to training scenarios, so it really doesn't matter what you call'em. What counts, is not putting yourself into an unsurvivable situation. In other words have a realistic plan, safe limits, and situational awareness.
Yaw is primarily related to torque at a hover. You can induce yaw by increasing TQ, and reduce it by decreasing TQ. If you hit the pedal stop, and the pedal applied isn't effective, and power variation isn't the extra minute bit of authority, you must make big changes- first power, then airspeed to get the vertical stab effective, and perhaps to execute an autorotational landing if nothing works.
Sometimes, you have to say "no" to a request.