On first reading, it seems magical and deep, but once you grok the proof, it feels like a relatively trivial observation. The whole thing is just about arrow composition!
In a way, once you're on the other side, the Yoneda Lemma feels a bit like a checkpoint during the accimatization period where your brain gets used to thinking in categories and commutative diagrams.
Not quite sure it's exactly the style you're talking about, but Bartosz Milewski has a nice series of video lectures going all the way from nothing up to Coend stuff. IIRC the series gets to the Yoneda Lemma somewhere in the second series:
https://invidious.snopyta.org/channel/UC8BtBl8PNgd3vWKtm2yJ7...