Symfony is a good framework, that uses about the same design patterns that make up Ruby on Rails, but it's not "PHP on Rails", since it has its own pros and cons.
As of Symfony 1.2 Doctrine is the second ORM, that's packaged with it. For older versions there are plugins.
About the whole YAML business: If you prefer XML configuration files or still other file format, you can plug that in. YAML is just the default one.
Last but not least, you can break out of the default structure (still you have to configure that). The documentation (cf the Symfony Book) states that explicitly.
Ultimatively, it's a matter of taste and personal preference. My advice would to read the Symfony Book (you can get it for free from the project website) and try to follow the example project. If you like that, use it. If not, try something else.