I didn't ever wait. All my yorkies over the years (5) had problem with the baby teeth staying in. As the adult teeth come in and the baby teeth are still in thee there is a high risk of the adult teeth being very crooked and comprimised. I got mine in early and had them taken out. Yorkies have a hard time with their teeth throughout their lives. To have something go wrong in their eirly months that can cause even more problems as they get older was not something I didn't want them to go through or myself to deal with.
Unfortunately, vets are very expensive and that is part of what you have to think about when you get a pooch. These little yorkies cost a lot over the years and end up being quite expensive in the long run. Love them so much though that it is worth it!
Hoping the best for you and your little Yorkie.