No, most of them connect over USB. The important thing is reducing the attack surface to a bare minimum with simple protocols and implementations.
I think at a minimum it would need to emulate a keyboard to type out complex passwords. Ideally it could also receive simple commands from, say, a browser extension to request filling in a specific website.
https://github.com/drduh/YubiKey-Guide
https://attackpointsecurity.com/go-pass-yubikey-and-gpg