BLF pickup works on Yealink. You can enable a visual alert and/or an audio alert (short beep). It displays who is calling and who is being called. You can pick up the call by pressing the BLF or the pickup soft key.
I have some Grandstream 1628 where BLF pickup fails, because of a firmware bug related to our use of a nonstandard SIP port. I worked with their support but they wouldn’t fix it. It’s not terrible – it does correctly show who is calling and who is being called, and you can still press *8 to pick up the call.