I take her everywhere as long as long as I can keep her with me (so not the gym or yoga or a doctor's office). In nyc and the bay area, no one seems to mind, especially if I carry her the whole time (in my arms or a carrier), even in grocery stores, etc. A lot of people here in the bay area seem to like actually
As long as your dog won't bark at other dogs or bark randomly at people in general, I don't see how it disturbs anyone. Yorkies are hypo-allergetic and are not a danger in the way taking around, say, a rottweiler might be. Dogs are social creatures and enjoy stimulation. And if yours is anything like mine, she always wants to be with her human "mama."