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.