Yes, but only if the choice is indeed free.
If, for example, BobLoblaw's example of Momo or some other Wanoese asking Yamato to stay actually happens, then there's no more free choice. He would be just doing someone else's bidding out of responsibility and guilt instead of free will, which would be an unfair outcome, especially if Yamato really follows his Oden mindset to its logical conclusion.
I'm less concerned about how and the details surrounding a prediction than the general gist behind it.
I feel Yamato is not being built up to be a crewmate, but something else, and this "guardian deity" angle seems to be built up slowly over the chapters. I don't pretend that it's set in stone, I just think it may be a logical conclusion if more elements are built on top of it, leading to the real conclusion.
But we can try to think scenarios that allow that to happen. For instance, once Kaido is defeated, Yamato may be brought to Wano to heal and rest. As we wait Luffy's recovery, he sees Wano for the first time in 20 years and realises how much work must still be done to undo his father's will. He also binds with the Wano people, and, when they get afraid because they learn he's Kaido's son, Momonosuke vouches for him and declares he must not be judged by his lineage (another Wano theme). Yamato has some time to think on those things before Luffy awakens and we have the big victory party. At that point, Luffy asks him if he still wants to come with them, and Yamato gets a chapter to explore his mindset and how he reached the conclusion that he wants to stay in Wano (or travel with Momo, or something). Nothing of that would feel unnatural or forced, if that's what his character arc is building up to.