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Jums as I remember it, and that memory is hazy as I am old and as such forget things real easy but I would agree with Talps (yeah I know, hell must have frozen over   ) and say that Rossi's departure from Yamaha was far more friendly than was his departure from Honda where he publically espoused his dislike for many aspects of Honda's approach.

With regard to his return to Yamaha, I personally suspect that to have been more about DORNA and it's need to resurrect the sport in the eyes of mainstream media (ie. standard news media) and fans as the sports viewership and sponsorship dollars were said to be waning due to Rossi's lack of success on Ducati. Whilst no doubt Yamaha were probably hesitant as it was Rossi who left them, I also suspect that DORNA offered a level of encouragement to Yamaha to accept that the return of the prodigal son would be good for Yamaha and DORNA.

As for Honda, you are absolutely correct that they had no need for Rossi to go back to them as they had a very good lineup of riders in MotoGP at the time together with a good feeder system of likely contracted riders.

Time has shown that the return of Rossi has had the effect that DORNA seemed to want with the comment 'Valentino will be on a competitive bike next year' and as we know, Rossi does not need a second invite as he will produce results on the track and off due to his marketability