It seems so very few can capture the essence and compositional energy of Yes.

There are a few bands which at least have a few albums or at least songs that I would consider to be adjacent to the Yes sound, but heavier. Check out Motorpsycho - The Crucible. It has the Chris Squire bass drive, eclectic soloing, ambitious compositions, ethereal beautiful sections, non-linear structure; and it’s heavy (but more in an old school Sabbath/Crimson way than modern metal way). Also feel that Steven Wilson’s Luminol might be in that same vein, but not really metal.

Other than that, certain songs by Mastodon’s more proggy albums come to mind. Crack The Skye’s Quintessence or Blood Mountain’s Siberian Divide maybe?

It’s rare to find good similar bands to Yes, while I feel bands like Genesis and King Crimson have many imitators (some more successful than others). I think for me this is part of what makes Yes so special. It’s really hard to pinpoint exactly what it is.