relaxed, comfortable, at ease
豫 centers on a state of ease and relaxation, where one is comfortable and unhurried. The given meanings all describe this same calm, untroubled condition.
豫 combines 予 with 象. The exact historical development is uncertain, but the character is associated with the idea of ease or relaxation.
The left side 予 looks like a person stretching out, and the right side 象 suggests an elephant moving slowly and calmly. Together they create a scene of relaxed, comfortable ease.
For ヨ, imagine a relaxed person saying 'yo' as a casual greeting while lounging comfortably: yo -> ヨ, and the easygoing vibe matches the kanji's meaning.