Based on https://davecoyle.com/tech-notes/ssh-keys-on-a-yubikey-mac/
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Install the YubiKey Manager CLI (ykman); alternative installation options can be found here:
brew install ykman
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Install GPG >= 2.1. Version 2.1 simplified the running of gpg-agent. The version isn’t a hard requirement, but it might make your life easier.