There are more words but they are from Tolkien's earlier conceptional periods. Tolkien likely changed these words as he evolved the aesthetics and completeness of the languages. You may even find languages that Tolkien later rejected. Do not mix words from different time periods unless you are familiar with the phonetic developments.
yanta
noun. yoke
yanta
noun. bridge
anta-
verb. to give
-on
suffix. great
úra
adjective. large
Below: Tolkien's Late Period (1950–1973). These are from Tolkien's late conceptual period — his most settled forms of the languages. Prefer these over the earlier ones above when composing new text.
The Etymologies of the 1930s had ᴹQ. yanta “yoke” derived from primitive ᴹ✶yantā under the root ᴹ√YAT “join” (Ety/YAT). However, in Tolkien’s later writings, Q. yanta was translated as “bridge” instead (LotR/1123).
Conceptual Development: In the Qenya Lexicon of the 1910s Tolkien had ᴱQ. {yatra >>} yarta “yoke” under the early root ᴱ√ẎATA “join” (QL/105), as well as ᴱQ. yalta “yoke” derived from ᴱ✶yḹta under the early root ᴱ√YḶTḶ (QL/106). In the Gnomish Lexicon also from the 1910s, Tolkien had ᴱQ. yalte as cognate to G. galt “yoke” (GL/37).
Neo-Quenya: Of the options above, I think ᴺQ. yalta is the best choice for a Neo-Quenya word for “yoke”, as a cognate to ᴺS. ialt. For example, Helge Fauskanger used both yanta and yalta for “yoke” in his NQNT (NQNT).