The technical details need to be answered by someone with hands-on experience, but the YubiHSM1 manual documents use of AEAD (RFC 3610: Authenticated Encryption

The technical details need to be answered by someone with hands-on experience, but the YubiHSM1 manual documents use of AEAD (RFC 3610: Authenticated Encryption with Associated Data), and references AEAD/client keys required for two modes of operation (HSM/WSAPI). Also: truckloads of reminders to never re-use a nonce in AES-CCM. Most interactions with remote servers involve higher-level crypto primitives, but if a secure client has these keys it should be possible to interact securely with a remote YubiHSM (assuming secure initial setup, keys must remain secure, etc.).