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NightDragon83 said:

That stinks, but the reason for this is probably because Nintendo has designed some levels specifically around Yoshi, and other more challenging levels designed without Yoshi's assistance in mind, so therefore Nintendo doesn't want players simply picking up Yoshi in an earlier easy stage and then traveling to a tougher stage later in the game a la SMW in order to have a bit of an advantage.

I remember constantly going back to the secret area in Donut Plains just to stock up on power-ups and get Yoshi and then heading back to the tough as nails Special stages on Star Road... good times!

That's true Yoshi did break the gameplay of a lot of levels but still they could just make Mario dismount Yoshi like in the Ghost Houses and Lava Fortress levels in Mario World. They don't have to make it so you have to get him every time in each level.