Katie Scarlett doesn't sleep all night in the bed with us. But I do let her come up there with me right before bed and early in the morning. Usually she will lay in the bed with me for about 20 minutes at night. I then put her in her big girl bed in the kitchen. She can see me from there though. Our hallway is short and she has a straight view of our bed. Then I usually wake up around 5 to 6 am to go tee tee. I check on her and if she has pottied, I bring her back to bed with me and we cat nap for a bit longer. I think if I let her, she would stay in the bed with me all night. She loves sleeping with me and my husband. She does get right in between us, but so far, she has done great. So maybe easing your Yorkie in for short amounts of time will help? Good luck!