Short answer
They are probably identical for you, but even if it is not, they should use your cluster to the best of their ability.
Longer answer
/usr/bin/yarn script sets the runtime so that all yarn commands can be run. /usr/bin/hadoop script is not completely concerned about the specifics of the yarn. However, if you have a cluster configured to use yarn as the default mapreduce implementation (MRv2), then hadoop jar will probably act the same as yarn jar to set mapreduce.
In any case, you are probably all right, but you can always check the web-based resource manager (or job tracking) web interface to find out how your task is distributed across the cluster (whether it is a single cluster node or not)
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