If you edit definesolvers.m and add
solver(i).supportsinitial = 1;
on line 115 or so, gurobi will accept initial guesses (using assign and the 'usex0' option)
Note though, most often the problem is not finding the optimal solution, but closing the gap from below, so even if you have the optimal solution, it might take gurobi just as long to terminate)
Also note that if you have complex models with high-level operators, YALMIP will not be able to assign initial values for all internal variables