No that's incorrect. YX never said such a thing, only that Ansem visited him.
The one that allowed time travel was MX:
Ansem never had a human form till taking Riku's body. Being born from the heartless process he wouldn't have a humanly form as his humanly form became Xemnas.
That doesn't state that Ansem SoD first manifested as the robed figure so how can you be so sure?
How could Ansem SoD have done absolutely anything at all in the 10 years of his existence if he was a floating robe the whole time? I'm pretty sure Young Xehanort does tell Sora that Ansem left his body behind, in fact he does, right here:
[video=youtube;Ev5Ihys8SAs]https://www.youtube.com/watch?v=Ev5Ihys8SAs[/video]
2:11:45 I'd say.
Not long after that he actually says it directly again.
There's definitely no solid evidence to say that Ansem started out as the Robed Figure, why would he if he'd existed for 10 years?
Axel makes an interesting comparison between Sora and Ansem SoD saying that only one person other than Sora had kept their emotions post heartless transformation, obviously referencing Ansem. How would he know that if all he'd ever met was this floating sack of shit robe with no apparent abilities?