I've already search all internet over this situation, but found nothing!

I have my private key successfuly instaled in Yubikey 5, and want to use it to sign/encrypt messages in any computer using Kleopatra.
In my computer I generated via gpg commands my keys and imported it to yubikey. In this computer, always I have to sign something using this certificate the Kleopatra ask me to plug my yubikey into usb, and every thing goes as espected!

In others computers I can't make it work at all.
I imported my public key using kleopatra, but have no idea how to tell it to bind it in my Yubikey. So anyone know how to make this thing work?