A very valid complaint would be that Ansible isn't idempotent, which I think is what the author was trying to get at. Nixos would be a great example of an idempotent system, and you might be able to convince me that Docker would qualify, too. As much as I like Ansible, its lack of true idempotence is a weakness.
But that has nothing to do with yaml v. XML v. anything else. You could trivially write an idempotent description language in XML, and you can trivially write a horrible state-based system in a Haskell DSL or Prolog. As far as I can tell, the author is complaining that people think that Ansible is idempotent because it has yaml. That is incorrect, but I don't think that it'd be better or worse if they'd pick something else; merely more verbose. (Look at Maven and Gradle for an example.)