Personally, I am happy with the way things work presently (since I don’t allow other people to access my devices), but I would like to clarify your Feature Request and determine if you are requesting something that has not previously been requested.
There are two or three relevant existing Feature Requests:
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Master Password Reprompt PIN — Proposes a modification to the Master Password Re-Prompt feature, replacing the requirement to re-enter the Master Password (to see, copy, or autofill the credentials) by a PIN with 2FA.
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Adding Biometric/PIN authentication with Master password re-prompt — Proposes a modification to the Master Password Re-Prompt feature, replacing the requirement to re-enter the Master Password (to see, copy, or autofill the credentials) by either a PIN or biometrics (like a fingerprint); one comment in the discussion also suggests using Yubikeys instead.
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Unlock Bitwarden with 2FA, e.g. Yubikey (instead of, not in addition to password) — Proposes the ability to use a Yubikey when unlocking a locked vault (but not for authorizing individual items for autofilling).
Please let me know if one of the above Feature Requests would address your needs (in which case you can add your support to the Feature Request in question, and I will close this thread).
Alternatively, if you feel that your request is sufficiently different from the others that it should stand on its own, please clarify if you want the Yubikey protection to apply to every vault item when enabled, or whether it should be a modification of the Master Password Re-Prompt feature (which applies only to individual items for which this extra protection has been enabled).