As per similar posts in this Mac board.
Set up Yeti as default device in /Applications/Audio MIDI Setup with the same sample rate and number of channels that you are recording with in Audacity.
Experiment with “Audio to buffer” in the “Recording” section of Audacity Preferences. You may have to reduce it or increase it.
Turn off Wi-Fi and all other apps you can.
Right-click or CTRL-click Audacity.app > Get Info. Put a tick (checkmark) in “Prevent App Nap”.
Let us know which if any helps.
Gale