I don't hate the yoke per se. I just hate it's implementation. If the yoke was done with variable steering then many of the issues I have would not be issues, other than horn placement. For the most part I find freeway driving with the yoke is great. However, it fails miserably with city driving, for all the reasons people have cited. Unfortunately, most of my driving is city driving. So for me the yoke is a massive fail.
Had Tesla released the refresh with a round wheel, and stalks, it would have been a truly awesome upgrade, and no one would be complaining. There are many things they improved with the refresh, e.g. decent cup holders, vented seats, rear seat heating, side pockets, better motors, wireless charging, decent place to put my phone, better headlights, etc. and then they messed it all up with the yoke. So close!