The 24-year-old centre-back returns to the Bluebells from Larkhall Athletic, having made the reverse journey in February 2023.
He had originally joined Yate in June 2021 from Weston-super-Mare and then switched to Melksham Town two months later.
He had joined the Seagulls on a permanent basis following his release from Championship side Bristol City.
He started his career in the City academy, coming up through the ranks at Ashton Gate.
He originally joined Weston on loan in January 2018 and made 16 appearances, scoring one goal.
He re-joined Weston on loan for a month in August 2018 and made 2 appearances before an injury ended his loan spell early.
After recovering from injury, he returned to the Woodspring Stadium on a month`s loan in December 2018 and extended his spell until the end of the season, where he made 16 appearances.
Yate boss John Rendell told his club’s website: "Aaron has loads of talent and is a very good defender. He’s had a great grounding at Bristol City before gaining good experience at Weston, Melksham and Larkhall. This is a right move for both us and Aaron as he fits the mould perfectly.
“We were far too weak last season, conceding far too many goals and this is something I am keen to sort this season.
“When Bakes had his offer to stay at Step 3 we contacted Aaron right away. I am pleased he wanted to join our club and will add strength to the other defenders within the squad".
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