I would narrow that recommendation to just BuildRoot TBH. It fits much more with the kernel-config style whereas Yocto config seems like its from another planet.
BuildRoot is much easier to work with IMO and gives equivalent or better results.
Don't know when's the last time you've played with Yocto, but at this point all you need is to learn how to use devtool and that automates everything for you.
BuildRoot is much easier to work with IMO and gives equivalent or better results.