Edit: Yubico has issued a security advisory on the vulnerability https://www.yubico.com/support/security-advisories/ysa-2024-03/
“The attacker would need physical possession of the YubiKey, Security Key, or YubiHSM, knowledge of the accounts they want to target, and specialized equipment to perform the necessary attack. Depending on the use case, the attacker may also require additional knowledge including username, PIN, account password, or authentication key.”