You only use "yo", "bro" and "dude" with people you know very well, and only if they also use "yo", "bro" or "dude". The same goes for any slang expression. None of my friends, not even the closest ones, ever use "yo", "bro" or "dude" with me. We simply don't talk like that. By the way, "dudebro" is a fairly recent expression, and means "male chauvinist" - specifically, that person takes the side of his male friends to ignore or disparage females.