Confused about Yukon with 12 servos and 2 stepper motors,is it possible?
Yes, that would be possible. You’d use two Dual Motor modules for driving the steppers (using code similar to yukon/examples/modules/dual_motor/single_stepper.py at main · pimoroni/yukon · GitHub), then three Quad Servo modules (probably the Regulated version). Code wise, the servos would need to be set up using a Servo Cluster (to avoid PWM conflicts between the two devices), using code like this: yukon/examples/modules/quad_servo/all_servos.py at main · pimoroni/yukon · GitHub
You’d then be left with one module slot free for any other purpose.