Welcome to Yorkie Talk. Yorkies do require quite a bit of grooming. You would be surprised what you can learn to do. I never imagined I would be giving baths once a week and taking care of daily needs.
My 2 boys are in full coat. Originally I intended to keep Max in a puppy cut, but I ended up letting his hair grow.
Professional grooming is expensive, especially when you add in a tip. You could invest in a pair of good clippers and scissors and do the work yourself. Just takes a little practice.
The best advice I can give is to work with your puppy from day one on being accustomed to being touched from ears to paws. All grooming, whether just daily maintenance or full groom, is a learning process. If you make a mistake, the hair grows back.