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Since you already have the node names and you know that every output yaml file looks like [node-name].yaml, I reckon this something along the lines of this snippet should fit the bill:

file_names = (f'{node}.yaml' for node in node_list)
output_filename  = 'single_file.yaml'
with open(output_filename, 'w') as output_file:
    for file_name in file_names:
        with open(file_name) as input_file:

You could even just use this shell command:

cat file1.yaml file2.yaml ... > single_file.yaml

If you're looking for an API in ros2cli/ros2param, I don't think something like that exists. You could always file for a feature request to open discussion about it?