The problem with answering questions like this is that we have a scarcity of people on the forum who've worked in the auto/motorcycle manufacturing industry as designers, engineers, or legal representatives , and most of these "why do we do it this way" questions could be answered by someone who was part of the design process. There has to be a reason that the manufacturer of every vehicle I've ever ridden or driven recommends that the engine be warmed up before you drain the oil, and the reasons for manufacturers' recommendations for pretty much anything involving our vehicles are either engineering based, design based, or legal based.
I can't see how the manufacturer's oil change routine on a Super Tenere would be either design based or legally based; the design of the engine doesn't preclude changing the oil when it's cold, and as far as a legally based decision, it's objectively more dangerous to change to oil on a hot engine than a cold one, so I doubt that a manufacturer's legal department would recommend a procedure that was more dangerous to the owner unless it was felt to be necessary.
So, you're left with an engineering based decision; some engineer at Yamaha (and every other vehicle manufacturer to my knowledge) chose the warm engine recommendation over the cold engine, in spite of that being the more dangerous way to do it. It could be as simple as "hot oil drains faster". My experience with oil changes is that hot oil from the crankcase drains out a lot faster than cold oil pours in. if this seems in doubt to you, next time you do an oil change, poke a hole in the bottom of your bottle of oil that's the same size as the oil drain bolt, open the cap, and see how long it takes to empty that one quart container as opposed to how long it takes to fill a one quart container of hot engine oil from the sump. They don't flow at the same rate. Engineers tend to lean towards efficiency when left to their own devices, and there's less efficiency in choosing a slower method for a procedure when a faster method will suffice, with all other factors being equal.