I was once given a piece of advice by a very experienced referee assessor: "If it looks right it's probably right, and if it looks wrong it's probably wrong." This looked wrong and, offside laws aside, should probably be pinged under 10.4(m).
You're referring to open play laws, 4567. Yarde was offside at the breakdown and made no attempt to retire. If he had remained on the deck receiving treatment during the subsequent play it would have been fine to ignore it as not being material. The moment he joined play it became material and should have been penalised.
Urban myth alert! Urban myth alert! There is no requirement for arriving players to allow a 'grounded' ball gatherer to get to his feet. A player off his feet is out of the game and must either stand or release the ball immediately. Arriving player is permitted to compete for the ball but is not permitted to go off HIS feet. There is no obligation to allow grounded player up off the deck.
Deliberate hand (which obviously includes fingers) to face contact IS permitted in law: ie, hand-off. Dangerous play is not. This was not dangerous play, but citing was right and supported as it allows player to be cleared of any accusations. No issue here. Move along please.