This is not true, nor does it make sense. If you are in the middle of the highway going 70 mph and someone is standing on the side of the road wanting to cross you do not have to yield and stop your vehicle. Stopping in the middle of the highway is dangerous since it isn't excepted.
For anyone mad enough to claim right of way toward a pedestrian, in any situation, just think about the shitload of legal hurdles awaiting you down the road. Not worth it by any standard.
“Right of way” and “must yield” does not mean a car is allowed to hit a pedestrian who doesn’t follow the rules, of course. The pedestrian is just not following the rules and can be cited for that. But practically speaking, most collisions involving such situations are not faulted against the driver unless some other factor is involved. It’s still a mess for them, however.