Introduce `asdf.util.load_yaml` #2828

Job	Run time
pre-commit	19s
jsonschema	0s
core / Load tox environments	7s
core / Python 3.12 coverage	3m 1s
core / Python 3.11 coverage	1m 50s
core / Python 3.10 coverage	2m 3s
core / Python 3.9 coverage	2m 9s
asdf-schemas / Load tox environments	6s
asdf-schemas / asdf-standard (ubuntu-latest)	51s
asdf-schemas / asdf-transform-schemas (ubuntu-latest)	1m 11s
asdf-schemas / asdf-unit-schemas (ubuntu-latest)	38s
dev / Load tox environments	3s
package / Build source and wheel distribution	2m 38s
oldest / Load tox environments	6s
compatibility / Load tox environments	4s
test / Load tox environments	6s
dev / py39-devdeps-parallel (ubuntu-latest)	1m 35s
dev / py310-devdeps-parallel (ubuntu-latest)	2m 3s
dev / py311-devdeps-parallel (ubuntu-latest)	1m 41s
dev / py312-devdeps-parallel (ubuntu-latest)	2m 0s
compatibility / compatibility (ubuntu-latest)	2m 42s
test / py39-parallel (macos-latest)	1m 29s
test / py39-parallel (windows-latest)	2m 19s
oldest / py39-oldestdeps-parallel (ubuntu-latest)	1m 5s
	30m 6s

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