I have not published these steps on a site yet. I hope I don't have to. But here are the steps in short.
First make sure your domain contact info is correct and the email address is a good one that hopefully doesn't see a lot of spam.
Close your account of that domain in Yahoo. I did this via the control panel. Email Yahoo and ask them to release the domain
Here is the email from Yahoo via this email address. firstname.lastname@example.org
"Dear Yahoo! Customer,
Thank you for writing to Yahoo! Domains.
Your domain name has been submitted to be released from our reseller
list. You should receive an email shortly after it is done from
Melbourne IT, the domain registrar, with your domain's new Registry Key.
You will then manage and renew your domain name registration directly
with the domain registrar.
Set up an account with Melbourne It, if you have not already done so. If you were not provided with your domain password, then use the recover Registry Key or password feature there to have it emailed to you. I have never been provided with this automatically. Use the "Add domain" feature in the control panel. You will need the Registry Key or password for that domain, different from the login password for you account.
If you you want to move to a new registrar, use the online help system in the control panel. You will not find a relevant option in their system, so you will end up with the "my question doesn't fit any of these" selection. Then simply request your authorization code for that domain. If your domain is a dot info or similar domain, you can not even initiate a transfer without this info. Make sure you are specific. Hopefully you will get a reply within the 48 hours that they say it normally takes. It will then take your new registrar up to 7 days to complete the transfer. Melbourne will send you an email that allows you to change your mind and cancel the transfer. Mine states "If you want to proceed with this transfer, you do not need to respond to this message. The Domain Name will then be transferred to the new Registrar automatically upon the lapse of the grace period.
If you wish to REJECT the transfer click on the URL below:"
From there it depends on your new registrar.