Major and minor in the same song ?
Yes, that's what you've got here

This starts out in F.
From F(I), it is possible to jump to any chord, then via a smooth progression, the song (i think i am safe to use the 'S' word here ) will work back towards the tonic, F (but not always).
The Circle of Fifths (Fourths) can be useful here.
After the initial F here in this s**g, it is changing to D minor (relative minor of F)
Here is the Tab with info reproduced :-
Yesterday The Beatles (in F major)
--
[Short changes to relative minor, or dominant.
Extensive use of ii-V-I progression. Use of V/9]
F Em7 A7 Dm Dm/C
Yesterday all my troubles seemed so far away.
I ( ii7 V7 ) vi
ii ------ V ---------------- I
Bb C7 F
Now it looks as though they're here to stay,
IV V7 I
C/E Dm7 G7 Bb F
Oh I believe in yesterday.
V [ ii7 V7 ]* IV I
C
ii--V--
Em7 A7 Dm C Bb Dm Gm6 C7 F
Why she had to go I don't know she wouldn't say.
(ii7 V7) vi V IV vi V/9** V7 I
ii--V---I (ii-------V7-------I)
...
--
* Note the short change of scale: G7 implies C major, the dominant.
** Note that Gm6 (: G Bb D E) is a C9 (: C E G Bb D) with no root.
You can find tons of info on the web about this kind of thing.
Here is a better analysis of Yesterday :-
https://www.recmusicbeatles.com/public/files/awp/y.html And the same site, loads more Beatles songs :-
https://www.recmusicbeatles.com/public/files/awp/awp.html Here are a few links that will give you some general info about progressions, etc. .
A lot of these links are for guitar and other instruments, but the basic theory that you are looking for still holds good.
https://chordmaps.com/ https://www.olga.net/dynamic/browse.php?printer=0&local=resources/lessons/country/MusicAndChordTheory.txt https://www.angelfire.com/music/HarpOn/theory2.html https://www.musesmuse.com/mirko-1.html https://www.musesmuse.com/mirko-2.html https://www.musesmuse.com/mirko-3.html Ok, that should keep you busy for a while . . . .