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Passwords can be entered from any device, while getting your private keys on something you need to use in a hurry can even be impossible...

It's the old dilemma of machine-only protocols vs protocols that can be spoken by a human typing on a keyboard.

How often are you using a new device you need to enter your password in that you can't plug a Yubikey into?

More often than never!

I don't know, when I'm borrowing a trusted friend's phone for example?

Say, can you tell me what the recovery process is if your Yubikey croaks while you're on a trip away from home?

Every option has drawbacks.

I haven't ever done this, not even with my wife's phone, so I'd consider this an obscure case.

As for the yubikey croaking, easy: carry a backup.