>>speckx+(OP)
In case this helps anyone, I found that removing a Yubikey (i.e. with that contact sensor) seemed to reduce the number of times I opened my bag to find a Macbook Pro unexpectedly warm and with a drained battery.
>>ectoca+8y
Same here. My Yubikey-equiped M1 MBP also refuses to sleep, so I end up shutting it down every day. I suspect it appears as keyboard input periodically waking the machine.