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Kube linter would be a first citizen for your need https://github.com/stackrox/kube-linter. If you use Helm would be Helm linter as well. Kube score is another interesting tool offering you best practices patterns. I usually develop with vscode and have a Yaml + Kubernetes extension. These could be enough to help you get through. Nevertheless, consider adopting a skaffold with a k3s for a faster feedback on the local dev lifecycle.
I second that. YAML is a terrible format, to the point that the official repository says it's almost impossible to parse (see for yourself: https://github.com/yaml/yaml-grammar).
Worth checking out CUE as well. Allows config sharing without inheritance. Made by a person who used to be on the Borg config team at Google.
If you want to validate your resources against the schema of the resources (mind you also crds) you can use kubeconform.