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There can be two ways you can do this.

1. By creating a Global Parameter Server, which is essentially just another ROS2 Node that loads all the parameters, accepts all the changes made to its parameters, and stays there until the entire application is shut down. This node can be queried to get/set the parameters loaded locally inside this node. You can also see this method as 'Creating your own Global parameter server.

You can read up on it more here: ROS2 Global Parameters

1. Or, if your application is not too complex, you can simply use Wildcards in your YAML file. Wildcards will enable you to define the parameters in the YAML file, but will not associate them with any ROS2 node. This method is comparatively simpler.

You can read up on it more here: Using Wildcards in YAML file