Depends on your use case, and you will still have to generate your master key offline even if you want the subkeys generated directly on each YubiKey, which then you sign with the master key.
It is only slightly less secure if you pre-generate subkeys on an offline machine if you want identical subkeys on multiple devices (and if you want exact backups). Sometimes this is exactly what people want.
Ultimately it really depends on your use case.
BTW, please check the parent comments to which I responded.
PS. I think it would be useful for others if you elaborated on your statements (for educational purposes).
It is only slightly less secure if you pre-generate subkeys on an offline machine if you want identical subkeys on multiple devices (and if you want exact backups). Sometimes this is exactly what people want.
Ultimately it really depends on your use case.
BTW, please check the parent comments to which I responded.
PS. I think it would be useful for others if you elaborated on your statements (for educational purposes).