The most common and most likely answer to this crossword clue is the 5 letter word GIVES
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More clues leading to the result GIVES
Buddy explains!

The straight part
We know that "Yields to the touch" is the straight/definition part of the clue. The straight part is often a synonym or definition, in this case yields to the touch = gives.The cryptic/wordplay part
In cryptic crossword there's often an wordplay/cryptic part as well.This part involves a more complex hint, such as an anagram, homophone, hidden word, etc.
Sadly, We don't have an explanation for this specific crossword clue yet.
What does GIVES mean?
GIVES verb- (ditransitive) To move, shift, provide something abstract or concrete to someone or something or somewhere.
- (ditransitive) To estimate or predict (a duration or probability) for (something).
- To yield slightly when a force is applied.
- To collapse under pressure or force.
- To provide, as, a service or a broadcast.
- To lead (onto or into).
- To provide a view of.
- To exhibit as a product or result; to produce; to yield.
- To cause; to make; used with the infinitive.
- To cause (someone) to have; produce in (someone); effectuate.
- To allow or admit by way of supposition; to concede.
- To attribute; to assign; to adjudge.
- To communicate or announce (advice, tidings, etc.); to pronounce or utter (an opinion, a judgment, a shout, etc.).
- To grant power or permission to; to allow.
- To devote or apply (oneself).
- To become soft or moist.
- To shed tears; to weep.
- To have a misgiving.
- To be going on, to be occurring
- A shackle or fetter, especially for the leg.