I could not agree more, it annoys me too. Repeated papers on great algorithms with numerical results, but nothing made public.
solvebilevel is really slow. It is only intended as an absolutely last resort when lack of dual bounds leads to numerical issues in small problems.
Try a MIQP kkt based approached (i.e., let YALMIP derive the kkt conditions and then optimize over those, leads to big-M formulations of the compl. slackness conditions. How well it performs depends on how good the derived dual bounds are)
There are some tricks and undocumented options in the dual bound derivation (set in the kkt fields of standard options structure). You are welcome to contact me by email for a detailed discussion.