Wrong.
Jesus used the same word "yoke" in this verse:
"Come to Me, all you who labor and are heavy laden, and I will give you rest. 29 Take My yoke upon you and learn from Me, for I am gentle and lowly in heart, and you will find rest for your souls. 30 For My yoke is easy and My burden is light.”
Peter, to address the need for circumcision among the gentile believers, said this:
"So God, who knows the heart, acknowledged them by giving them the Holy Spirit, just as He did to us, and made no distinction between us and them, purifying their hearts by faith."
So the Jews with the Law and the gentiles without the Law were purified by God in the same manner: by faith. The sign of this was "giving them the Holy Spirit". Not any outward work of the Law. Only that which God can give: The Holy Spirit.
Peter uses the same word Jesus used to describe a burden: yoke.
"Now therefore, why do you test God by putting a yoke on the neck of the disciples which neither our fathers nor we were able to bear?"
So, if not the Law, then how are gentiles, or any people, saved? That's the next sentence:
"But we believe that through the grace of the Lord Jesus Christ we shall be saved in the same manner as they.”
So they conclude the following:
"Therefore I judge that we should not trouble those from among the Gentiles who are turning to God, 20 but that we write to them to abstain from things polluted by idols, from sexual immorality, from things strangled, and from blood."
That's it: abstain from things polluted by idols, from sexual immorality, from things strangled, and from blood.
Then this is written:
"For Moses has had throughout many generations those who preach him in every city, being read in the synagogues every Sabbath.”
The carnal will say "See, this says they already know all the Law so the gentile believers should follow the law as they've heard it."
No, what they were saying was "The Law was read on every Jewish Sabbath and preached everywhere there were Jews. So let's get a succinct message to the gentiles so they are not convinced to take up the whole Law of the Jews."
So then that is what they wrote:
"Since we have heard that some who went out from us have troubled you with words, unsettling your souls, saying, “You must be circumcised and keep the law” to whom we gave no such commandment."
The letter continued:
"For it seemed good to the Holy Spirit, and to us, to lay upon you no greater burden than these necessary things: 29 that you abstain from things offered to idols, from blood, from things strangled, and from sexual immorality. If you keep yourselves from these, you will do well."
That's it. Those 4 things. God had already acknowledged them by giving them the Holy Spirit. The disciples, knowing that, by the Holy Spirit, God could communicate with the gentile believers Spirit to spirit, gave them simple instructions. From study, we know that the instructions related to their cultural traditions. The elders at the council were helping the young believers.