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Basically the yes man ending is a failsafe ending that you can do even if you kill everybody in the game.
You don't get any side missions for yes man besides meet all the factions (which lead to side missions if you want to ally with the faction) and once you do all that you can choose to intervene in the president assassination or not and then you get a couple end game missions to the final.mission
It's pretty shame that you cannot bring a robot squad with you after you take over and upgrade them...But due to game's engine limitation and how OP they are, it understandable.
They will actually help in the final mission.