There's no creature more loyal to man than the noble Yoshi.
One of Super Mario Odyssey's reveals at E3 was that with the help of Cappy Mario can capture the bodies various creatures and ememies to use their powers. Not only does this include the realistic people milling around New Donk City, but also a completely new creature:
So if Mario can live in the same world as a giant semi-realistic T-rex...what does that make Yoshi?!