Step2:
Demux the resulting file with YAMB to raw audio stream (bruno_ffmpeg_yamb.m4a)
Does YAMB output a "raw audio stream" and yet give it the suffix "m4a"?
Damn good catch, Porcus ... 
No, there was no extension, but I was lazy and added m4a so that MPC-HC would open it for me.
The actual output was named "bruno_ffmpeg_track1" and when I manually drag it onto MPC-HC, I get this basic information
Audio: AAC(LATM) 48000Hz stereo [A: aac (latm) he-aac, 48000 Hz, stereo]
MediaInfo reports:
General
Complete name : bruno_ffmpeg_track1
Format : LATM
File size : 69.5 MiB
Overall bit rate mode : Variable
Audio
Format : AAC
Format/Info : Advanced Audio Codec
Format profile : HE-AAC / LC
Format settings : NBC
Codec ID : 5
Bit rate mode : Variable
Channel(s) : 2 channels
Channel positions : Front: L R
Sampling rate : 48.0 kHz / 24.0 kHz
Frame rate : 23.438 FPS (1024 SPF)
Compression mode : Lossy
Which are both exactly the same as from the file I manually added the m4a extension to.
* What happens if ffmpeg tries to output raw aac, like:
ffmpeg -i bruno.ts -map 0:a -acodec copy "bruno_audio_ffmpeg.aac"
It results in a file that cannot be played back at all and has severly broken meta data.
MediaInfo says:
General
Complete name : bruno_ffmpeg.aac
Format : ADTS
Format/Info : Audio Data Transport Stream
File size : 70.2 MiB
Overall bit rate mode : Variable
Comment : q¾ë•mGð\àÙï#ÕóG£¤ôF/õœà°•sEj)ýÈÕ…d½#õˆ4.ᓸ™ñòÂОÈFàHzÿ]„`ÀŽTMÛ§ / ðý;µC‹î7¿ší—z™G• ÷i(åöJØoÁxôÚš–8wrJÕ¶+%Ít`á
Audio
Format : AAC
Format/Info : Advanced Audio Codec
Format version : Version 4
Format profile : HE-AAC / LC
Format settings : NBC
Codec ID : 2
Bit rate mode : Variable
Channel(s) : 21 channels
Channel positions : Front: 12, Side: 7, Back: C, LFE
Sampling rate : 48.0 kHz / 24.0 kHz
Frame rate : 23.438 FPS (1024 SPF)
Compression mode : Lossy
Stream size : 70.2 MiB (100%)
* Bitstream filters are only for "the other direction"?
dunno and tbh, I couldn't be bothered to dig for other approaches, after I started making progress with ffmpeg & yamb

* There is a "latm" option mentioned at https://ffmpeg.org/ffmpeg-formats.html#Format-Options ... ?
I've seen that option too, but as I understand it, this is only used for muxing into TS and I wanted to demux the audio stream, so I didn't pay any further attention to it.
Feel free to ask more...
Cheers !
Maggi