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Riders give feedback, i.e this works, this doesn't, this is better, this is worse, the bike understeers, the bike hops when going into a corners while braking hard...etc.
The engineers take that feedback and make changes to try and improve or fix based on the feedback.
In the Lorenzo case, his feedback steers the development in a direction that suits him best. And if the engineers know their stuff, they can get the bike to work like the rider likes it. So of course the bike after two years is the way Lorenzo likes it. It is not the wrong direction, if it worked for Lorenzo it is a good direction.
Rossi likes it different(as he should), so it will take the engineers time to learn what he wants. Yamaha has limited resources compared to Honda, so things don't always go as quickly or as smoothly and one would hope.