My take on the yoke, stalks and functions after having my car for 3 months:
The yoke looks and feels really cool. The sense of openness in the cabin while driving is really something special. I prepped myself by placing coflex tape on my prior MS for a couple of months before I got my refresh, and found the change to the yoke just fine. I use a different technique for the holding and turning of the yoke, for which I am now well-adapted, with specific grips for turns that I just can't take the time to explain here. In simplest turns, lots of very specific grabbing hand over hand.
For the most part, The yoke is a pleasure to use. Now, the key words here are "most part". If you are driving gingerly in the city or down the highway, it is fine. Also, if you are making occasional turns, U-turns, backing into spots and 3-point turns, it is also fine. I do a TON of those every day and have perfect ease of use with it. Now, if you are driving aggressively in traffic, needing to make many lane changes and fast turns, then the yoke just feels sloppy. Now, imagine a near collision where you have to maneuver quickly to safe yourself. There is absolutely, and unarguably, a distinct benefit to having a piece of the wheel to grab always in the same exact place. That is only achievable with a round wheel. Knowing that however you move the wheel, you can grab it at any spot, at any time, without any thought, is just plain safer. Again, I got this yoke stuff down, and love it. Yet, I remain fearful of a complex series of incidents in dangerous situations where control can easily be lost. If Tesla was to offer me a free "upgrade" to a wheel, would I take it? Maybe. It would definitely take some thought.
Turn signals: Meh. The turn signals are not that easy to use, but not terrible. I do find that I miss sometimes, which would never, ever, happen with stalks. Stalks are, without question, easier. The buttons are not terrible, but definitely no huge advantage here. My thoughts: whatever. I can take it or leave it. They are fine.
Gear selection: F'ing dangerous! As I posted in another thread, I nearly got myself killed by this STUPID screen selection system. I was backing up into a tight charging spot in a driveway, and had to maneuver to fit. I had to pull into the street to align myself, then back in. Suddenly, there was heavy traffic coming. I "threw it into reverse", tapped on the pedal, and lurched forward! I simply did not take enough time and dedication to specifically swipe 100% down on the screen and ensure "in gear". Sloppy on my part, yes. Traffic was coming and I wanted to get out of the way quickly. This absolutely would never happen with stalks. Even dials or floor shifters are more secure. Face it, touching the screen is just not easy while driving. Tesla does not get that. IMHO, this is almost justification for a recall and retrofit of stalks.
I had a super tight parallel parking job the other day. Those are typically easy for me. The screen gear selections took a tough but doable job not only difficult, but downright embarrassing. I found myself cursing at the screen.
Horn: OMG, who was the idiot who designed this? Of all the items on the wheel, next to the wheel itself, the ONLY item there that is designed for an emergency is the horn. No, it is not for calling the kids or the guy texting in front of you when the light turns green (though the latter is not such a bad use). It is specifically called out for the prevention of an accident. Trying to find a stupid little button with your thumb, or placing the entire hand over the right side (which, BTW, gifts you with also activating the wiper blades) during an emergency, is not in-line with the philosophical function of the horn. Again, this too, IMHO, would be justification for a recall.
In summary, the yoke is fun and cool looking, though a bit less secure, especially in dangerous situations. Turn signals are fine/no biggie. Add gear stalks and move the horn to its correct position and everything would be stellar.