The main issue with the yoke is safety. In the event of losing control, you have less surface area to grip. Only the most ardent of fanbois like the yoke. Tesla even had to back down and offer a round wheel as an option. It’s a shocking piece of design that makes no sense. And don’t get me started on the lack of stalks.
Yes it does play a role in grip. I will give you that. But the stability of the car is now controlled more on the software side than on the hardware. Which means, there are systems working full time that manual intervention reduces significantly.
On the other side of debate, it forces you to use the 9-3 position. In a full steering wheel, you could have your hands wrongly positioned. Which is, in essence, the safest steering position.
The only effect I see is airbag. In a foll steering wheel, the top edge of the steering wheel is supporting the backside of the airbag upon inflation. That might have a disadvantage because of a hard surface. In a yoke steering, the top edge is completely free. Which means, there is more space for the airbag to inflate, ergo more space for the occupant to "decelerate" into. Which is a major requirement for the homologation.