The fracture surfaces of the yoke need to be examined microscopically with good illumination to assess if the failure was caused by fatigue crack growth to final fracture (when the yoke was being heavily loaded as you "walked out from the shoulder"). Think of it this way; if a significant portion of the yoke cross-section was cracked by a growing fatigue crack, the yoke when heavily loaded may not be able to withstand the loading stresses and then can "catastrophically fail" to complete fracture into two or more pieces. If the fracture was caused by fatigue there will be tell-tale characteristics that indicate fatigue and where the crack initiated and how far it grew until the final fracture event. Crack initiation sites for fatigue crack development are typically associated with surface defects such as a deep scratch or gouge or maybe a forging or casting defect. Examination by someone with extensive experience repairing broken equipment may be fruitful. If the fatigue crack initiation site can be traced to an as-delivered defect, it may provide a good argument in support of a warranty claim.
For clarity do understand that for common failure analysis of fractures the following terminology and defintion is used by failure analysts. To wit, a part is cracked before it fractures completely into two or more pieces. Try to avoid piecing the two halves of the fractured yoke back together as mechanical rubbing damage between the two fracture surfaces will obliterate fracture details. That can make interpretation of the fracture cause more difficult and less definitive. If you can take well-illuminated pictures of the yoke and fracture surfaces, it may be possible to give you a remote assessment of the failure cause.
However, in spite of all that, I agree with mrjulian416 that an insurance claim for damages sustained by sliding off the road will probably be the best route to take to cover your damage costs. Unless there is clear indication of a yoke manufacturing defect as root cause for the fracture, GM will (rightfully) refuse a warranty claim.
Go get 'em and good luck!