Yoast does things like automatically set up redirects if you change pages, but that may or may not be what you need.

Depending on your setup you may or may not want categories/tags/etc. to be included in your sitemaps but Yoast will put them there.

In general I think Yoast (or really anything) is likely to be a net positive and while it makes some things easier it still requires work and thought.