Integrable field theories exhibit infinitely many symmetries which underlie their solvability, but the structure of these symmetries can become obscured after performing an integrable deformation such as T T¯ or an auxiliary field deformation. In this paper, we present a systematic organizing principle for understanding deformed charges and their Yangian structure in a broad class of integrable sigma models and their auxiliary field deformations. We generalize the recursive procedure of Brezin, Itzykson, Zinn-Justin, and Zuber (BIZZ) for generating non-local charges, and give sufficient conditions under which the first two charges in the tower give rise to a classical Yangian algebra. We apply these results to many examples of integrable sigma models and their auxiliary field deformations, finding a Yangian algebra and Maillet bracket structure in all cases. This offers a unified explanation for the persistence of Hamiltonian integrability and Yangian symmetry across a wide landscape of deformed sigma models.