If you really want to keep Yoshi:
Have him in your party, then before you enter the Spellhold, go inside an inn (or any building), put him near the doorway and drop him from the party(and tell him to wait for you).
Once you finished the whole Spellhold drama, head back to where you drop Yoshi off, as soon as you walk into the inn (or whatever building he is in), PAUSE the game and command your character to talk to him. When you talk to him, talk him back into the party. When the conversation ends and Yoshi is in your party, he will die from the geas. Just take him to a temple or resurrect him and he is as good as new.
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Long live H22A1!!!!!
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