Looks like this changed for series 5 keys.
In August 2019: "the YubiKey now also supports ... Curve25519, the default curve used in ssh (EdDSA and Diffie-Hellman)", "Addition of Ed25519 signature support, a modern ECC curve".
See https://www.yubico.com/blog/whats-new-in-yubikey-firmware-5-...