In the bowl of a stand mixer fitted with a dough hook attachment, dissolve yeast in warm water. Let stand 5 minutes until foamy, then whisk in sugar and salt. With mixer running on medium speed, add flour 1 cup at a time until dough pulls away from sides of bowl, adding additional flour if needed.
Turn dough onto a floured surface and knead several times until smooth and elastic. Place in a greased bowl, turning once to grease top. Cover bowl with plastic wrap and let rise in a warm place, 1 hour or until doubled in size.
Punch risen dough down and divide into 12 equal pieces. Roll each portion into a 12-in rope. Form ropes into a pretzel shape, by shaping ropes into a a circle and twisting ends towards center. Pinch edges to end of pretzel to adhere. Place pretzels on two parchment paper-lined baking sheets. Cover with plastic wrap and let rise 15-30 minutes.
Meanwhile, in a large saucepan, bring 6 cups water to a low boil over medium-high heat. Dissolve baking soda into water. Working 1-2 at a time, carefully place pretzels in boiling water and boil 30 seconds on each side, flipping once. Transfer back to baking sheets and repeat boiling with remaining pretzels.
Brush pretzels with egg yolk mixture and top with your choice of either cinnamon sugar, garlic seasoning, or plain kosher salt. Bake pretzels in a preheated 450F oven 10-12 minutes until pretzels are a deep golden brown. Enjoy hot from the oven!