Got into a hit and run after having my S for about half a year. Have been driving my old gas car with a regular wheel for the past 3 weeks and heres my opinion.
You're less relaxed with your hand placement with the yoke. I'm one of those one handed drivers that turn with one hand. Im much more relaxed with a regular wheel. I can initiate turns regardless of where I place my hand. But on the yoke, theres only the left and right upper corners than can facilitate a safe one handed turn.
On the freeway, I would say the yoke is better because it forces me to be 9 and 3 on the wheel and that has kept me more alert and a better driver lmao, weird reason, I know.
Turn signals are meh. I don't live in an area where you need to actively change signals while turning so one of the common complaints on the forum don't apply to me. However, maybe its cause I suck but there are times when I need to panic signal / react very quickly and I often mis press the turn signal. No issues with that with the stalk.
The horn. Yea, I have never honked anyone on my model s because by the time I look at my yoke and figure where to press, the situation is over =D. And no mashing doesn't always work. Same with the high beams tbh. If I want to use it as a way to communicate, its just hazardous to have to look at the wheel to figure out where to press.
Ultimately I think if you've never driven a regular wheel before, yoke won't give you problems because you've never experienced something better. Its not that the yoke doesn't work, its just that knowing that a better design exists elsewhere really pisses off the human mind.
Looks cool tho, so screw usability =D