Indeed! There are quite a few parks with yurts, actually. The most popular yurt campground is Valley of the Rogue State Park, located conveniently off I-5 near Gold Hill in Southern Oregon. Wallowa Lake State Park has two yurts that are designated ADA. The Oregon Coast has an abundance of yurt campsites; for instance South Beach State Park has 27 yurts, including 14 that are pet friendly.
To find the right campsite for you, check out the Oregon State Parks website and filter it to show “Cabins & Yurts.” There is a spot on the left side of the web page to reserve online, or there is a phone number you can call if you want to do it that way. I can tell you that the yurts are very popular, so I recommend reserving one as soon as you can so you have a better chance of getting one.