2020 Yamaha DRIVE2 ADVENTURER SPORT 2+2 (CAMP) EFI Service and Repa...
Model code DR2A21_CAMP appears on the 2020 DRIVE2 ADVENTURER SPORT 2+2 (CAMP) EFI, and the book that covers it is Yamaha LIT-19616-A0-31.
Four seasons, 2020 to 2023, and twenty-five Drive2 variants sit in that one volume. For a gas car the EFI chapters are what matter: fault codes with the check to run for each, sensor and actuator values, fuel pressure, the pump and injector, and throttle body service.
Around that you get engine work with clearances and torque figures, the starter generator, clutch and drive belt, transaxle, brake and park brake adjustment, steering, both suspension types, wheels, the CAMP rear seat and the body panels. Wiring diagrams are included for each variant, and the maintenance schedule is tabulated at the front.
The code is worth checking twice here, because Yamaha used similar names across AC, EFI and Quietech cars. DR2A21_CAMP should be on the plate.