Note: The YubiKey PIV Manager is no longer being maintained. The YubiKey Manager should be used instead, even though it does not support configuration through registry.
You might also be interested in the Administrative Template for YubiKey Smart Card Minidriver
This ADMX administrative template allows administrators to easily deploy configuration of the YubiKey PIV Manager through Active Directory Group Policy. It can also be used on standalone computers to unlock some features of the PIV Manager that are disabled by default, like controlling the Pin and Touch policies.
Just copy the ADMX and ADML files into the local or central ADMX store.
The ADMX template is based on the following official document: