Yup, worthwhile - I learned about yield. 
My own coding style tends to state machines and dispatch tables. My HLA uses dispatch tables heavily, but the state machine component is rather subtle and mainly concerned with register read decoding.
My HLA deals with a lot of special cases to try and show “interesting” information, like which alert flags are newly set or reset, so there is a lot of code there. I’m still adding to it and altering stuff without too much pain so it seems to meet my maintenance goals. Not sure how that would hold for anyone else though!