My opinion: the steering wheel is much better. It's not even close.
1. The functionality of the yoke is poor except when driving straight. It's fine to rest your hands on the sides when driving straight, but you can do that with a steering wheel, too, and better, because you can hook your thumbs around the ring, whereas on the yoke there's just a little knob that doesn't give you a good gip. The yoke is very awkward to turn it in all situations, and it's easy for it to slip out of your hand or require weird hand movements because of the rectangular shape. The wheel is much, much better in that regard and gives you much more control. One handed turns are effortless with the wheel and nonexistent with the yoke.
2. The quality of the materials on the yoke is poor, contrasted to an aftermarket steering wheel with leather and carbon fiber like mine. It feels nice in the hand, and feels very premium compared to the yoke. The yoke tends to peel in the areas that get most use, something that is much less likely to be an issue on even the stock wheel since you won't have the pressure areas. That's really a major embarrassment on a $120K car. Tesla will give you one replacement, some I think have gotten more, others have been refused further replacements. But that just shouldn't happen, so I'm surprised people make excuses for it.
3. The wheel looks much, much better. Not just the materials, but the overall appearance. The yoke just looks odd to me, especially with the dash setup which is very angular and flat. The wheel balances out the look of the interior much more.
4. People comment on visibility of the screen, but my wheel doesn't block the screen at all, and actually helps visibility on the center screen since the wheel diameter is slightly smaller. The top of the rim covers the dash cowl, which isn't an issue, and the upper part of the wheel base covers the view of the awkward dash/steering rack transition, so that's a plus. With the yoke, you're looking right at that weird gap, which looks unfinished.
They also should definitely bring back the turn signal stalks or at the very least make the left turn signal on the left and the right turn signal on the right and have them larger and more pronounced. The buttons are frequently tough to find and easily missed in a hurry. There's no debate here, the stalks are more effective and easier to activate, but having more pronounced buttons on the correct side would work, too. Ferrari did this right, Tesla did not.
