I agree with Maximo, it's super hard for any Yorkie to be allowed to sleep on the bed sometimes and then crated through the night other times.
At 6 months old, the potty training stuff is crucial. Think at this point, you may want to decide one or the other and stick to it. Though, you might find that crate training her right now will be harder and more work...
If you choose to let her sleep on your bed and she sleeps through the night every night, then scrap the crate. And I guess that's it
I think many people choose this, because it seems easier and they actually like sleeping with their Yorkies.
If you choose to crate train her, don't let her on your bed again (at least for the next year or so until she's all potty trained). You'll have to use several training techniques to have her accustomed to the crate, LOVE the crate, and not have separation anxiety while in the crate (this is really the first step to prevent the barking). If she potties in the crate right now, it'll also mean you need to potty train her from the start again so she can get through the night (i.e. let her out to pee midway through the night and then gradually increase the time until she can sleep through the entire night without accidents; let her out to pee at 6am as soon as she's awake). With time, she'll start to be less anxious and will start to sleep through the night once she accepts it.
My personal experience...
I never let mine on my bed for cleanliness / allergies reasons and the fact that I'm scared I'll squish them in my deep sleep! I chose the crate training route from day one (the both potty outdoors as well). Heads up: it can be a total nightmare!
Through this process, I fed all meals in the crate so they'd like the crate and wouldn't soil themselves in the crate. I made sure the crate is large enough just so they can lie down and turn around.
With Scottie, I had to use ticking alarm clocks to sooth him, cover a few sides of the crate with a towel, ignore his barking for a couple months when I knew he was all pottied out. It was rough! 1.5 years later, with Casie, I had to take away the towel in her crate because she felt comfortable to keep peeing inside because the towel would soak up her pee and she was fine with that.
I had different challenges with both. Scottie barked through the night for a good 2-3 months. Eventually we made it through. I could have sworn my condo neighbors all hated me. His cries were as if his limbs were being torn off one by one. Casie was somehow amazing from the first week onwards and didn't bark through the night. Her issue was soiling the crate.
Lesson learned though, both can be potty/crate trained. Just needs A LOT of patience.
Scottie is currently 2.5 years. He has free reign of my entire condo. He sleeps on his own bed, near my bed. I waited until 1 year 3 months before letting Scottie out of his crate and in a isolated space near my bed. And then very gradually earning more and more space within my condo. He's able to hold in his potty until I'm ready to take him out before getting ready for work.
Casie is turning 1 year old next month and still sleeps through the night in her crate. She wakes me up every morning at 6am and I take her potty right away! For her, potty has been a challenge, so I will wait longer until she seems to be able to sleep in and hold it. She's far from reliable as of right now.
So as for your second question, the answer is yes
Your Yorkie will eventually be independant and able to roam freely and sleep on her own bed beside your bed once she's potty trained. It's a matter of time. Some learn faster - like before they turn 1 year old. Key is, if they have any accidents, then it was too soon and you need to go back a few steps. Slow and steady wins the race.