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I updated the load_yaml function to allow for a package parameter.

~~I updated~~You apparently only need one set of ${} ~~the load_yaml function~~ per property. So rather than trying to ~~allow for a package parameter.~~double up with

<xacro:property name="filename" value="$(find package)/file.yaml"/>
<xacro:property name="dictionary" value="${load_yaml(${filename})}"/>

<xacro:property name="dictionary" value="${load_yaml($(find package)/filename.yaml)}"/>

like I tried to do, use two different properties, like so:

<xacro:property name="filename" value="$(find package)/file.yaml"/>
<xacro:property name="dictionary" value="${load_yaml(filename)}"/>

The filename will be substituted already since it's already in curly brackets. You don't need two sets.

Thanks to [Robert Haschke] for this answer.