That game has aged like fine wine. Also the most underrated Yoshi game.The cool thing about Yoshi's Story is that Nintendo cracked up the effect possible due to a high speed CPU and 3D computation which were present in Yoshi's Island but less pronounced.
This made perfectly sense cause on console like PS1 and N64 sprites didn't really exist and to do 2D games they simply render textures with transparent background so in a sense they were already ready to do effects uncommon with past sprite based consoles (though not many developers tried to take advantage).
Note the real time generated lava waves (another example is the water distortion effect):