A yoke is something that is a burden. Works based grace is a burden as no one could or can do anything to receive God's grace. From Adam, it has been offered to all mankind freely but whether or not we receive the blessings and the rewards that comes from His grace is up to us.
Rev 22:12 “And see, I am coming speedily, and My reward is with Me, to give to each according to his work.
He doesn't say He is coming to give rewards according to grace, the rewards are according to our works, our obedience towards the Father. As He was obedient and walks in newness of life, so too, if He in us as the Father in Him, then the Father is in us that we all become one as he and the Father are one. Peter told us that Messiah is a stone of stumbling to both Jew and Gentile but of course, Peter was referring scattered Israel who had become as Gentiles. Read 1Pet 2:6-8 then read Is 8:14 and then after that read 1Pet 2:10 and follow it up with Hosea 1:9-10 & 2:23. Peter was not speaking out of thin air according to some fictitious new covenant for Gentiles, Peter was quoting the Prophets just as Jesus did.
And as Paul said, grace is not a license to disobey God, but rather through grace we joyfully are to serve God according to His will, not the will of man that comes with yokes no man can ever live up to because even the ones who came up with those yokes do not even keep them.
Rom 6:1 What, then, shall we say? Shall we continue in sin, to let favour increase? 2 Let it not be! How shall we who died to sin1 still live in it? [Footnote: 1See Rom. 8:13, Col. 3:3] 1 Peter 2:24 ... 15 What then? Shall we sin because we are not under law but under grace? Certainly not! 16 Do you not know that to whom you present yourselves slaves to obey, you are that one's slaves whom you obey, whether of sin leading to death, or of obedience leading to righteousness?
So it would seem once again, Paul is not in agreement with the doctrine of the church, but vehemently stands opposed to it because Messiah was opposed to it.
Joh 8:34 Jesus answered them, "Most assuredly, I say to you, whoever commits sin is a slave of sin.
The Law defines sin and if the Law is set aside, then there is no definition of sin therefore there is no sin and no need for a Messiah.
However, according to the implications of your soteriology, one must be circumcised and keep all the law, which is what Acts 15 and other texts counters.