Oh my! I sure wish I had some advise for you on this but I don't. I can truly understand how it could be a problem at times and embarressing when company arrives.
Have you by chance asked a professional dog trainer or such to get advise or search the web?
I have never run into this with a Yorkie, however I had a Golden Retriever who did this. (submissive pee). She too never outgrew it. When we moved and gave her away I received a card about a year later from the new owner. She sent a picture of our Golden with blue ribbons won in some avents but said she still continued to pee submissively???
It seems odd that your new pup Avery is doing the same? I wonder if this trait is picked up by another dog, for instance Avery learning it from Gracie. ???? I just don't know