The yabar command

The cask links it onto your PATH; it lives in Yabar.app/Contents/Helpers/yabar. It talks to yabai's socket directly and needs no permission.

Command
yabar focus west\|east\|north\|south [--axis horizontal\|vertical] Through a stack's windows along its axis, then the next tile, then the next display (Focus).
yabar focus next\|prev Every window of the space in order, wrapping round.
yabar focus attention The next window that wants attention, on any space. Exits 1 when there is none.
yabar scratchpad <name> Show or hide a scratchpad; launch its app when it isn't running.
yabar launcher Open the launcher, starting Yabar when it isn't running.
yabar --version The version and build.
yabar --help All of the above.