I was having the same problem. Since there didn’t seem to be a solution posted by the creator I had to figure out one on my one. Figured I’d share it in case someone else stumbles across this like I did with the same problem. I added the following line of code to the custom-permalinks.php file on line 426 after the closing </span>:
<span id=”editable-post-name-full”><?php echo htmlspecialchars($permalink ? urldecode($permalink) : urldecode($original)) ?></span>
The Yoast plugin reads the page name from the following span based on the id to determine if the URL is compliant. The only problem with the solution is that it will only work once the page has been published since prior to that the page name is the default wordpress link structure of “?page_id=2376”. Figured this is better than it not working at all. Maybe if the developer gets around to it they can incorporate the fix into their next update and find a way to get the correct permalink name to show up before the page is actually published.