Japanese verbs "suru" する and "yaru" やる have almost the same meaning, "to do" in English. Suru する sounds softer, more general and more formal, and also has a gramatical function to turn a noun into a verb. Yaru やる sounds more colloquial, rougher and stronger, and, I think, implies a strong intention of the "actor". The following link says that yaru やる is used as "to do something special", "to manage something", "to do and finish something", etc. For example, "yatta--!" "やったー！" means "I made it!".
Reference (in Japanese): http://jomon.net/archive/kotoba05.html
I'd like to say... don't worry too much about this problem. There are differences, because they are different expressions having different histories. But it also depends on rhythms, intonations, gestures, and so on. I think it is more important that they are almost the same. If you wonder which is the better, probably using suru する is safer.
It is interesting that you use the word keiyoudoshi 形容動詞 (literally "adjective verbs"), which is used in Japanese school for Japanese students. How do you learn Japanese now?
I think the majority of Japanese linguists consider the word is not good these days. However, there are various groups having their own gramatical theories and terminologies, so they can't define a new standard word and often call it いわゆる (so-called) keiyoudoushi 形容動詞 or whatsoever. In other hand, most of Japanese language teachers for foreigners use the word na-adjective な形容詞, which is used by some linguists as well. (By the way, I am not a linguist.)
In addition, some linguists says that there are no keiyoudhoushi 形容動詞 or na-adjectives in Japanese, which are actually combinations of noun + copula. But if you follow their theory, you will have to add a new classification in noun.
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The following texts about Japanese verbs and adjectives were posted by me on this site. -- Japanese verbs "suru" する and "yaru" やる have almost the same meaning, "to do" in English. Suru する sounds softer, more general and more formal, and also has a gramatical function to turn a nou