No. Because the python version of the host and the target server must loosely match up. Otherwise you get some cryptic error messages in some unexpected modules.
Red Hat's solution: just manage RHEL 9 targets from RHEL9 hosts and RHEL8 from RHEL8 hosts. There is no official way to align python versions across that major.
Except it isn't actually YAML you're writing, it's a jinja2 string template that parses to YAML because the expressions they came up with ended up not being sufficient.