Running between the wickets was not the highlight of their unbeaten 120-run partnership.
Azhar was mid-pitch when Younis sent him back in the 11th over.
Warner had enough time to lob the ball back to bowler Mitchell Starc and complete the dismissal but instead tried to throw down the stumps.
Azhar returned the favour in the 27th over, when Warner went within a whisker of snapping the stubborn stand from mid-off.
The veteran then failed to back up when opening partner Renshaw also tried to throw down the stumps.
Skipper Steve Smith couldn't see the funny side as the tourists scampered through for two overthrows.
Smith declared at 538-8, wanting seven overs at Pakistan before the tea break. It proved a wise decision, with Josh Hazlewood snaring two wickets in his second over. Hazlewood needed seven balls at Sharjeel Khan and four at Babar Azam to account for the batsmen.
Hazlewood and Starc found bowling to Azhar, who showed what he is capable of with an unbeaten knock of 205 in the Boxing Day test, and Younis far tougher.
Spinners Nathan Lyon and Steve O'Keefe were largely ineffective in the final session, when Smith opted against using them in tandem.
However, Lyon created a late chance when Azhar was on 51.
Earlier, Renshaw's maiden test ton ended when he was on 184 in the sixth over of the day. Sid Barnes is the only Australian opener to have produced a higher score at the SCG than what the 20-year-old managed in his fourth test.
Handscomb was out hit-wicket for 110 after benefiting from a missed stumping on nine.
Hilton Cartwright made 37 on test debut.