I was able to get my new HA Yellow PoE up and running just now. I am using the same CM410832 module as you. However, because I did not want to use the onboard eMMC, I had to follow this guide in order to change the default boot order. I wanted my 1TB WD SN750 NVME drive to be both my boot and storage drive. I used another Raspberry PI as the USB boot host for the Yellow, as Windows is not supported when building the new code required to change the boot order.
It should be noted that two jumpers on the Yellow board need to be moved (JP1 to ‘USB’ & JP2 must be bridged) in order for the Yellow to boot off of the USB-C port. Also, one must supply external 12v power to the Yellow in order for it to be seen by the computer one is running ‘rpiboot’ from. For me, my goal in doing this was to update the firmware on the CM4 to make it boot from NVME first.
In order to get the HAOS 9.4 for the Yellow installed on the NVME drive, I simply downloaded haos_yellow-9.4.img.xz from Releases · home-assistant/operating-system · GitHub. I then used the Raspberry Pi Imager (on my Win11 PC) to flash the image I just downloaded to the NVME drive that I had temporarily installed in a USB to NVME enclosure. Once the drive was imaged, I removed it from the USB enclosure and installed it in the HA Yellow PoE board.
Finally, with JP1 and JP2 back in their original positions, I simply plugged in a PoE Ethernet cable. After about 5-10 minutes, I was able to connect to the Yellow board via my web browser.
I know my process is a little non-standard… However, it seemed like the easiest method to me. I have had some prior experience with using CM4 modules in other boards, so this was a little familiar to me.
I hope this helps! Good luck in getting your Yellow PoE up and running!