I remember learning a bunch of Yes songs old-school - line by line, raising the tone-arm and dropping the needle back down over and over..and over........and over again.
Use tab or sheet to augment, but try to memorize the song itself, including the overall 'feel'. I found that worked well with Yes, Floyd, Steely Dan & Rundgren/Utopia-type songs.
Here men from the planet Earth first set foot upon the moon, July 1969. We came in peace for all mankind.