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The yaw will be invalid if you provide bad data to the navsat node. You are responsible for telling navsat what the correct yaw is, because the raw GPS data is unable to provide this information. Please read the first sentence on this page:
https://docs.ros.org/en/melodic/api/robot_localization/html/navsat_transform_node.html
The important phrase is "a sensor_msgs/Imu containing an accurate estimate of your robot’s heading".
The sensor_msgs/Imu you pass to navsat must specify the correct yaw (in the Imu frame.) For yaw, the navsat node is going to transform it into the map frame, and pass it back to you.
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