https://youtube.com/shorts/0X-PZE8lbL0?si=a5sL3et9LvQm5vRU
In Korean, "예" seems to include "I know or am aware of your expectation, and I know you want to know that I agree or I did". Such as "식사하셨어요?" "예", "오늘 가실 건가요?" "예", "어제 잠은 주무셨어요?" "예", "숙제했어요?" "예", "별로죠?" "예", those quesitons have "식사할 것을 기대한다", "숙제했을 것을 기대한다", 그래서 그 기대에 나도 부응하거나 충족하고자 한다는 의미로 "예"라고 하는 겁니다.
Of course "예" means just "yes" under some polite position, such as "꽃 좋아하세요?" "예", but also "예" includes both expectations. You want me to do something and when I did, I can say "예".
In Korean, "어" partly includes "I think that your question seems not that such matter to me" Such as "밥 먹으러 갈래?" "어", "너 그 사람 만날 거야?" "어", "그거 좋아해?" "어", so, when you hear "어" from Koreans, those Koreans want to say "It doesn't much matter to me so I did or I will do or I do. There are not so much matter" So if you say "어" to Koreans, some Koreans can ask again "어? 어라니?". Like "what? What did you say?"
In Koreans, "응" includes "I really do or I like or I am done with it." Such as "너 거기 가고 싶어"? "응", "그 사람 다시 만날 거야?" "응", "밥 먹었어?" "응". When Koreans say "응" to you, "I am done with it so no more hesitation."
Korean has some kind of different levels based on ages, genders, social positions, jobs, official meeting... Anyway, "어", "응" are used between close relationships, but "예" is slightly polite.