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I can confirm the author's experience with Apple's SSH-agent implementation. It does not allow you to load Yubikey agent libraries from Homebrew's default /usr/local, which makes it an inconvenience to set up.

It surely depends on the OS, and on the PKCS#11 implementation. I tested ykcs11 and OpenSC on macOS and they were like I described. I had started this project as a simple setup tool for PKCS#11 configurations and had to build the agent to get the UX I wanted.

Also, not having to re-enter the PIN after unplug means it's being cached in memory rather than on device, which I'm not a fan of. In yubikey-agent that's handled by using a graphical pinentry during operation to avoid the manual unlock step.

Yeah I had the same experience using OpenPGP applet on the Yubikey both on Linux and Windows. It just works. Maybe it was a problem once but got improved with time?