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It is natural for the lower, older leaves to yellow but new growth should not. Has there been a lot of rain lately? If not, it may have an insect problem. I see some white spots on the leaves but can't get a good look. Try spraying the leaves with water if you can reach. I don't think it is the age, because some yuccas can live hundreds of years. A light application of a balanced fertilizer (such as 10-10-10) may help. Here is more:

https://www.gardeningknowhow.com/ornamental/foliage/yucca/yellow-yucca-leaves.htm

https://content.ces.ncsu.edu/yucca-plant-bug-1

You can try taping/splinting it together and it may grow back together or you can try rooting the top part to make a new plant. These articles should help:

https://www.gardeningknowhow.com/garden-how-to/propagation/grafting/reattaching-broken-stems.htm

https://www.gardeningknowhow.com/ornamental/foliage/yucca/propagation-of-yucca-plant.htm

https://www.gardeningknowhow.com/ornamental/foliage/yucca/yucca-plants-care-and-pruning-tips-for-pruning-a-yucca.htm

Some of the yucca varieties are hardy to zone 4. Here is a university fact sheet that tells about different varieties (look on the right rail), which may help identify yours. If you are not sure of the variety, I would not risk it outside. You could put it in a container and summer it outdoors, however. You are in zone 7, though, so it could be hardy outside.

https://landscapeplants.oregonstate.edu/plants/yucca-filamentosa

https://www.gardeningknowhow.com/ornamental/foliage/yucca/yucca-plant-varieties.htm

Your plant would benefit from pruning. You could cut it off below the green area and start it over. Here is how:

https://www.gardeningknowhow.com/ornamental/foliage/yucca/yucca-plants-care-and-pruning-tips-for-pruning-a-yucca.htm

Remove the worst leaves that are brown or spotted. The worms do not look like the yucca weevil larvae or even leafminer larvae, but it could be a different weevil. The clear stuff at the base could be dried honeydew but that is produced by aphids and scale, neither of which looks like those worms. In case there are scale or aphids, too, spray the remaining leaves with Neem oil in the morning or evening, so as not to spray in the heat of the day.

Here is more info about weevils:

https://ipm.ucanr.edu/PMG/GARDEN/PLANTS/INVERT/yuccaweevil.html

https://cales.arizona.edu/yavapai/anr/hort/byg/archive/pestsofagavesandyuccas.html

https://ipm.ucanr.edu/PMG/GARDEN/PLANTS/INVERT/ID/idblvinwee.html

https://www.gardeningknowhow.com/ornamental/foliage/yucca/yucca-plant-bugs.htm

Many species DO have rhizomes. And they WILL regrow from them. I would dig out as much as you can, digging much wider than the plant was. Once you get out what you can, then you can either solarize the soil, or throw boiling water on it. Even do both! It will kill anything there without harming the soil.

https://www.gardeningknowhow.com/garden-how-to/projects/how-to-solarize-garden-beds-to-eliminate-garden-pests-in-the-soil.htm

https://www.gardeningknowhow.com/plant-problems/weeds/boiling-water-and-plants.htm