The document is well-written, clear and complete.
Kudos to the authors and the ANIMA WG for all their hard and careful
work.
Sections 5 and 6, which describe the differences from RFC8366 and
RFC8995, were particularly useful to me.

IoT-wise, it like like cBRSKI performs most of the heavy lifting, with
PRM providing additional support.  Therefore, there is not much more to
say about this document, except that by integrating these two
technologies, it produces an impressive step forward compared to RFC8366
in terms of supporting devices with a radically smaller footprint and
unreliable network connections, as well as improving interoperability
across a potentially huge number of new devices.

The usual considerations around clokcs, low-bandwidth and lossy network,
memory and CPU constraints, plus basement/dark installations, are the
responsibility of cBRSKI and PRM.
From a quick skim of the relevant documents, these seem to be well
addressed.

I am completely ignorant of YANG matters, so I cannot provide any
assistance in this area, apologies.

From an IoT prepstecive, I reckon that the document is ready.