Yoast Support kindly provided me with the following reference:
https://yoast.com/wordpress/plugins/seo/api/
Using the following filters calling my own functions, I was able to change everything in the header based on dynamic content.
add_filter('wpseo_title', 'setPageTitle', 10);
add_filter('wpseo_metadesc', 'setMetaDesc', 10);
add_filter('wpseo_canonical', 'setCanonical', 10);
add_filter('wpseo_opengraph_image', 'setOG_Image', 10);
add_filter('the_title', 'setTitle', 10);
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