Aoyagi Yorinaga served as a bushō during the Sengoku and Azuchi-Momoyama periods. Kiyonaga was the lord of Aoyagi Castle in the Tsukama District and a retainer of the Kai-Takeda based in Shinano Province.
Yorinaga was born as the lineal heir of Aoyagi Kiyonaga.
The Aoyagi were members of the Omi clan of Shinano. In the era of his father, Kiyonaga, the family was granted by Takeda Harunobu (later known as Takeda Shingen) the Omi township and, thereafter, adopted the Omi surname.
In the third month of 1582, the Oda army extinguished the Kai-Takeda clan and just three months later, Oda Nobunaga died in a coup d’état known as the Honnō Temple Incident. This was followed by the Tenshō Jingo Conflict. In the midst of these developments, Yorinaga initially obeyed Uesugi Kagekatsu. Ogasawara Sadayoshi (under the protection of Tokugawa Ieyasu) recaptured Fukashi Castle in Shinano. Subsequently, Aoyagi Castle, strategically located on the Hokkoku-Nishi road linking the Matsumoto basin and the Zenkōji basin, became the subject of conflict with the Uesugi and Ogasawara. From the fourth month of 1583 to the following year, a contest over Aoyagi Castle ensued with the two parties. Yorinaga then entered into a settlement with Sadayoshi but, in 1587, was invited to Fukashi Castle and murdered while inside. Thereafter, Aoyagi Castle was seized by the Ogasawara army and the Aoyagi clan collapsed. According to one account, Yorinaga was killed for colluding via Sanada Masayuki with Uesugi Kagekatsu.
His son, Aoyagi Seian, became a retainer of the Sanada clan. In 1600, at the Battle of Sekigahara, he joined the Western Army and was defeated. Sanada Masayuki and Sanada Nobushige (Yukimura), father and son, were banished to Kudoyama. Among the sixteen people who accompanied Masayuki to Kudoyama, Seian was one of a few, along with Nobushige, who entered Ōsaka Castle. After the death of Masayuki, other retainers returned to Ueda while Seian joined Takanashi Naiki and remained at the command of Nobushige at Kudoyama. Later, he deployed for the Siege of Ōsaka. In 1615, during the Summer Campaign of the Siege of Ōsaka, it appears that Seian and Nobushige were killed in action.