Disable the Yoast SEO meta box and the page analysis columns for all roles other than administrator and also disable the Yoast SEO meta box in the content types like "post", "page" and "custom post type".

Enable Yoast SEO only in administrator role and in specific content types

// Returns true if user has specific role 
function {your_prefix}_check_user_role( $role, $user_id = null ) {
    if ( is_numeric( $user_id ) )
        $user = get_userdata( $user_id );
    else
        $user = wp_get_current_user();
    if ( empty( $user ) )
        return false;
    return in_array( $role, (array) $user->roles );
}
 
// Disable Yoast SEO meta box for all roles other than administrator
function {your_prefix}_wpse_init(){
    if( !({your_prefix}_check_user_role('seo') || {your_prefix}_check_user_role('administrator')) ){
        // Remove page analysis columns from post lists, also SEO status on post editor
        add_filter('wpseo_use_page_analysis', '__return_false');
        // Remove Yoast meta boxes
        add_action('add_meta_boxes', '{your_prefix}_disable_seo_metabox', 100000);
    }   
}
add_action('init', '{your_prefix}_wpse_init');
 
function {your_prefix}_disable_seo_metabox(){
    remove_meta_box('wpseo_meta', '{your_custom_post_type}', 'normal'); // Remove from custom post type
    remove_meta_box('wpseo_meta', 'post', 'normal'); // Remove from post
    remove_meta_box('wpseo_meta', 'page', 'normal'); // Remove from page
}