There are probably some well trained yorkies that can handle no leash - but speaking on a personal level - no way would mine be outside without a harness.
If your yorkie can handle walking short distances off leash - great - but they're so impulsive I'd worry if he saw something and darted after it - he'd run into traffic .....the street is
the biggest danger to all dogs
ps - my uncle had a big dog (forget the breed) and for years was allowed to be outside and did like to chase cars ..they couldn't stop him.....(they live in Rural Maine) - well - months ago - a car stopped HIM.