I pair my Ledger Nano S with my Yoroi Wallet.
However, I can only use the hardware validation in the browser using the Yoroi Browser extension.
The Yoroi mobile app on android has issues with using Ledger Nano S - I have not tried recently, but that was my most recent experience.
Nonetheless, I am perfectly fine using Yoroi with Ledger Nano S and confirming transactions in a web browser using the Yoroi web browser extension.
I have been using Yoroi with Ledger Nano S this way successfully for about a year now with no complaints or issues.