Usually dealers don't have a lot of margin on new bikes so they don't have a lot of wiggle room unless the thing has been sitting on their floor forever and then they may deal on it to get out of paying the loan interest on the unit.
With new bikes the area where I have seen dealers make their money is the added fees. On most manufacturers websites you can see the Destination and Freight charge that they hit the dealers for so at least you should have that number available. However, I don't see it on the Yamaha site at the moment.
The tag and title fees you can figure out from your local tag office.
After that it is all the doc and admin fees that you can whittle away.
However, on used bikes Dealers have a lot more wiggle room to deal on price. So if you can find one that only has a few miles on it and still under warranty then that is a pretty good fishing hole to cast your line.