Joseph Yates was born between 1771 and 1780, based on census records.
He passed away in 1833.
I have a professional researcher working on the issue of whether he was a son of Stephen, and will post updates as available. (note by Katherine Benbow)
He is not the same man as Joseph M. Yates (Yates-6550), based on several reasons. Also, there is no evidence of this Joseph Yates/Yeatts ever using an initial in his legal documentation.
"Virginia, Marriages, 1785-1940," database, FamilySearch (https://familysearch.org/ark:/61903/1:1:X5Y5-SQM : accessed 11 January 2016), Joseph Yeates and Betsy Johnson, 20 Dec 1803; citing Pittsylvania, Virginia, reference Page 36; FHL microfilm 33,326.
Pittsylvania County, Virginia, Marriage Bonds, 20 December 1803, Joseph Yeates and Betsy Johnson; digital images, Family Search (www.familysearch.org : accessed 27 June 2019).
Marriage between Joseph Yeates and Betsy Johnson bond dated 20 December 1803 Bondsmen: Joseph Yeats (signed by mark) and James Johnston
"United States Census, 1820", database with images, FamilySearch (https://familysearch.org/ark:/61903/1:1:XHLJ-6RM : accessed 11 January 2016), Joseph Yates, 1820.
1830 US Census, Pittsylvania County, Virginia, p 395 (penned), line 3 for Joseph Yates; FHL microfilm #0029680, roll 201.
Joseph Yates (indexed as Yeates): 2m 5-9, 1m 15-19, 1m 50-59, 1f 10-14, 3f 15-19, 1f 40-49
DEATH & ESTATE RECORDS:
E.Y. Wimbish, administrator. Balance remaining from sale of estate after expenses: $121.35
pd. Elizabeth Yates, 1/3 part, $40.45
pd. Sandford Yates, $10.11 ¼
pd. Mary Yates, $10.11 ¼
pd. Saml. Duley, $10.11 ¼
pd. “Elizabeth Yates for 1 years board of Sally, Fitzchaney, Richd & Obadiah Yates at $10.11 ¼ each, being their proportions of the above…”, $40.45
pd. Johnston Yates, $10.11 ¼ 
Researcher's Comment: This account shows that Joseph Yates died intestate, without a will. According to the law at the time, if the couple had children the widow would be entitled to a 1/3 share of the decedent’s personal estate with the rest being split between all of the decedent’s legal children. This account gives a 1/3 share to Elizabeth Yates as Joseph’s widow and the remainder is split 7 ways for each of the children. Sandford, Mary, and Johnston each received their own portions as legal adults, but the other children could not. Elizabeth Yates received the portions due to her four minor children, Sally, Fitzchaney, Richard, and Obadiah. Since married women had no separate legal identity, Samuel Duley received the portion that was due to his wife.
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