Super Mario World 2: Yoshi's Island
(August 15, 1995)
The Harry Hedgehog enemy in Yoshi's Island is believed by some gamers to be based on Sonic, being a blue hedgehog. However Harry Hedgehogs are actually based on Porcupos, enemies originally from the 1988 game Super Mario Bros. 2, as their japanese name implies (the japanese Porcupo being Harimannen, while Harry Hedgehog is Super Harimannen). Though they could have some inspiration. The fact that this enemy was included along with all other enemies from Super Mario Bros. 2 is not notable.
Mario & Sonic at the London 2012 Olympic Games
October 13, 2009
The stage for the Dream Long Jump even is "Yoshi Picture Book" and takes place in the Rail Rift stage from Yoshi's Story.
Sonic Lost World
December 22, 2013
A DLC Stage for Sonic's Lost World is Yoshi's Story which you fight Enemies from the Yoshi Series to save some Yoshis.
Yoshi's company Nintendo had no right over Sega's Sonic,series, in fact they only included a subtle reference in the game.