Huh, I wasn't aware that I drew Yoshi sticking his tongue out so "dynamical" in any way for someone to notice. Regardless, I do have a tip on how I did it so I guess I can try explaining how. Bear with me though as I'm not too good at explaining how I draw certain stuff 😅

Some of the official Yoshi artwork, models, and sprites have shown that Yoshi kind of has that big bulge at the end of his tongue (sometimes that bulge is straight up a ball lol). Other than using a bunch of official stuff for practice and references, I just imagine Yoshi's tongue as some kind of a ball attached to a string (sort of like a paddle ball) whenever I sketch it out.

Then I just draw the "string" doing random movements like being all wiggly, zigzag and whatnot while the "ball" is still attached to it.

So I guess you just go crazy with however you want to draw the line and then you attach the ball at the end and there you have it! A dynamically drawn Yoshi's tongue or something XD

Hope this helps! =)