sudo apt install yubikey-manager
Check output with ykman list. If it displays output like YubiKey 5 Nano (5.4.3) [OTP+FIDO+CCID] Serial: XXXXX then proceed to
the next step. If your Yubikey is not recognized, maybe the following helps: https://support.yubico.com/hc/en-us/articles/360013708900-Using-Your-U2F-YubiKey-with-Linux.
If you see a warning WARNING: PC/SC not available, you need to execute sudo systemctl start pcscd.service and sudo systemctl enable pcscd.service.
Go here https://developers.yubico.com/yubico-piv-tool/ and compile according to instructions. Test it with yubico-piv-tool -astatus.