People voted the Republicans in right? Perhaps them winning the vote indicates that the Democrats were not doing things right, in most people's opinion?
If that is indeed the case, then it was not a vote for what Republicans are doing now. It still points to a systemic problem: the system gave certain individuals the power to do things that they don't actually have a mandate for.
I'd say one of the major problems is that the voting system is built to de facto ensure a two-party system because it's a system in which individuals are voted for, with each race being a winner-takes-all for a single individual; as opposed to a system of representative voting. And a two-party system simply isn't able to represent the complexities of the world.
(This is of course in addition to other problems of the system which are also real.)
But one's vote is never for whatever the vote winning party actually does.
Eg one might like one party's position on the environment, but disagree with regards to their military position - it is not possible to find a party that represents how one feels on a multitude of issues. And even if you did agree with all a party's positions, parties change their positions - saying one thing and doing another.
And it has always been thus. One votes for a representative, who then votes on the specifics.
Trump won, not just because of his policy program, but also because he wasn't Biden. But then, Biden won because he wasn't Trump.
If you think about that, if that's the best our democracy can do, then it sounds like evidence for Yarvin's position... until you think about it. Then you wonder, what happens if the non-democratic ruler was Biden or Trump or equivalent, and you can't get rid of them?
What we actually need is to fix the primary process.