The yucca looks healthy and doing fine overall. The closeup of the orange smudge on the underside of a leaf looks as much like scar tissue as a plant disease, Will the orange smudge rub off to any degree?

Mostly the 'disease' looks like old age - of the lower leaves. The bottom leaves of all plants get old, tattered and eventually fall off. You can just cut them off now.

The discolored raised texture does not rub off. I think you are right that it is not a leaf disease but rather leaf scarring, something I've never encountered before. It was on a lot of leaves before I removed those leaves thinking I needed to stop a disease from spreading. Now I'm thinking it might be 'leaf edema' which isn't contagious and so I wouldn't have had to remove any leaves. I went and fished some leaves out of the yard waste bin a few days after they were cut and took another photo; the textured orangish tan discoloration had darkened to a coffee color. I would say it was more often on the underside of the leaves (left), but it was also on the top of side of some leaves (right).

If it is leaf edema, maybe it was caused by something in the extreme weather, my watering, or wildfire smoke this summer? Edema is a really confusing condition...here are some lamenting agave enthusiasts...http://www.thedangergarden.com/2016/09/learn-from-my-mistakes-20-agave-edema.html?m=1...agave and yucca are in the same subfamily.

Leaf edema is an interesting possibility. You'd have to be pretty familiar with the exact conditions the yucca experienced to determine a cause. From reading Danger Garden the wildfire smoke would had to have been thick enough to turn daytime into night for a spell and that is certainly possible with thick smoke.