I found it extremely (to the point of a frustration-induced mental breakdown) hard. I still can't fit it all in my brain, but I got enough so that my code works. The best explanation I can give is by analogy: think of the kernel of an OS, and how it spreads CPU time across all the processes. Sometimes processes know they dont need to work, say they're waiting for a disk read, or a network message, so they surrender and say "ok kernel, I'm done for now, let someone use CPU". Thats like what the "yield" command does in asyncio, although yield requires a context. So you say "yield until this function does something interesting" (I think it's called 'await' now), then a mini-"kernel" (the io service) stops executing that function and polls all the other functions to see if any of their yields have changed state. It just keeps polling till it finds some work it can do. I dont yet fully grok the futures yet, but I think they're just a way of packaging up the "work item" produced when a yield actually gives you something.
* Disclaimer: I barely understand this, so if I'm spreading bad information I apologize in advance.
I have nothing against asyncio in python, I think its presence helps put python in the "big leagues" of languages, and not just a toy for noobs with arduinos. It's an additional language feature, like C++ templates. You dont have to use it, so the noobs can keep doing their thing. But it prevents more experienced devs from outgrowing the language and having to learn a new one, or port working code to a new language.