The move comes two days before the major-league trade deadline on Monday (6 p.m. ET).
Naylor, 26, is batting just .143 with two homers and seven RBIs in 28 games this season for the Guardians.
He is a career .199 hitter with 40 homers and 125 RBIs in 346 games since being selected by Cleveland with the 29th overall pick of the 2018 MLB Draft.
Heuer, 30, is 0-1 with a 4.66 ERA in eight relief appearances this season.
He is 10-5 with three saves and a 3.76 ERA in 97 career appearances with five different teams.
Perkins, 29, is batting .157 with one homer and 11 RBIs in 55 games this season.
He is a career .223 hitter with 14 homers and 93 RBIs in 297 games with the Brewers
Yoho, 26, is 2-0 with a 3.15 ERA in 15 appearances this season.
He has the same record with a 4.40 ERA since being selected by Milwaukee in the eighth round of the 2023 MLB Draft.
