Has the yoke of bondage been done away with?

Yes. The yoke of bondage has been done away with. Paul writes that believers are to stand fast in the liberty by which Christ has made them free, and not be entangled again with that yoke. Grace, not works religion, secures them in Christ.

Les teaches that this follows the allegory of Isaac and Ishmael in Galatians 4. Ishmael represented law and legalism, while Isaac pictured the freedom believers have in grace because of God's promises. God has promised that those who believe what Christ has done are His for eternity. Paul therefore tells both the Galatians and us to stand fast in the freedom Christ purchased, not to be entangled again with the yoke of bondage. That yoke has been done away with, yet people still try to pull it back into their lifestyle, thinking they need a works religion to satisfy the ego. But when a person is saved by grace, there is no ego.

Galatians 5:1

Stand fast therefore in the liberty wherewith Christ hath made us free, and be not entangled again with the yoke of bondage.

Why do people try to bring the yoke of bondage back into their lifestyle?

People attempt to pull legalism back into their lives because they think they need a works-based religion to satisfy the ego. The completed work of Christ has done away with that bondage, and grace removes the ego's basis for such self-satisfaction.