Yggdrasil, while being a great mesh networking software, doesn’t have that many learning resources on it. The docs on its website and a few enthusiast-established wikis are probably everything you’ll ever find on how to set it up.
This is a simple recipe on how to configure Yggdrasil with systemd-networkd and systemd-resolved while providing other devices on your local network with Ygg addresses and allowing them to use Ygg.