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Yardley agreed to a minor-league contract with the Cubs on Tuesday.
Yardley appeared in 17 games for Milwaukee last season and posted a 6.75 ERA, and he ended up spending most of the campaign at the Triple-A level. He could earn a look on Chicago's big-league roster if he can rediscover his form from 2020, when he had a 1.54 ERA across 23.1 innings.
