Sort of; the communication protocol is standard (CCID), but the actual HSM interface varies. Yubikeys implement the OpenPGP smartcard interface, for example, as

Sort of; the communication protocol is standard (CCID), but the actual HSM interface varies. Yubikeys implement the OpenPGP smartcard interface, for example, as well as PKCS #11. The TPM specification has its own crypto interface that is standard across all hardware, so you can do things like generate a key and perform crypto operations without requiring the hardware implement a particular interface beyond whatever TPM version you require. There are advantages and disadvantages to both approaches. On Linux, TPMs are implemented in the kernel, and CCID is handled by userspace drivers.