There are two sets of code in this gist. One for non-WooThemes and one for WooThemes. Only copy the section you need to replace breadcrumbs

yoast_seo_breadcrumbs_replace_woocommerce.php

<?php
/********* DO NOT COPY THE PARTS ABOVE THIS LINE *********/

/* Replace WooCommerce Breadcrumbs With Yoast Breadcrumbs
 * Credit: Unknown
 * Last Tested: Jan 25, 2018 using Yoast SEO 6.2 on WordPress 4.9.2
 * Theme: Non-WooThemes like Twenty Seventeen, Genesis
 */

// Remove WooCommerce Breadcrumbs
remove_action( 'init', 'woocommerce_breadcrumb', 20 );
remove_action( 'woocommerce_before_main_content','woocommerce_breadcrumb', 20 );

//Add Yoast Breadcrumbs
add_action( 'woocommerce_before_main_content','my_yoast_breadcrumb', 20, 0 );
if (!function_exists('my_yoast_breadcrumb') ) {
  function my_yoast_breadcrumb() {
    yoast_breadcrumb('<p id="breadcrumbs">','</p>');
  }
}

yoast_seo_breadcrumbs_replace_woocommerce_woothemes.php

<?php
/********* DO NOT COPY THE PARTS ABOVE THIS LINE *********/

/* Replace WooCommerce Breadcrumbs With Yoast Breadcrumbs
 * Credit: Unknown
 * Last Tested: Oct 15, 2016
 * Theme: WooThemes like Storefront
 */

// Remove WooCommerce Breadcrumbs
add_action( 'init', 'jk_remove_storefront_breadcrumb' );
function jk_remove_storefront_breadcrumb() {
  remove_action( 'storefront_content_top', 'woocommerce_breadcrumb', 10 );
}

//Add Yoast Breadcrumbs
add_action( 'woocommerce_before_main_content','my_yoast_breadcrumb', 20, 0 );
if (!function_exists('my_yoast_breadcrumb') ) {
  function my_yoast_breadcrumb() {
    yoast_breadcrumb('<p id="breadcrumbs">','</p>');
  }
}