They're just about ready to move, actually, Leareth had mainly been waiting on taking care of the nothlit demorphing, since he's the only one who can do that and the plans for taking out the Yeerk leadership involve nonzero risk to him.
He talked it through extensively with Matirin before his departure, and they agreed the best way to address it, if there's a chance they'll want to argue for pardoning Mhalir later, is to be upfront about the plan. So he is. He couches it in a lot of assurances about how thoroughly mind-controlled Mhalir will be, he'll be able to speak and move since he needs to convincingly distract the Yeerks, but Leareth can override him in an instant, and he won't be able to access Leareth's Gifts at all. They stress-tested the compulsions, just in case, even though there's no known way even in theory for an un-Gifted person to resist them; he describes how they convinced Mhalir he was going to be killed and gave him every incentive to break free of the control, and he failed and was helpless. And, Leareth hints, he's also capable of compulsions on a higher level of abstraction, that will prevent Mhalir from even forming the intention to betray him and warn the Yeerks. (Mhalir has, in fact, agreed to this, since in his mind it's not changing anything so why would it matter.) That one isn't impossible to work around, but Leareth will also be able to read Mhalir's mind, and he's absolutely certain he'll be able to catch any hint of resistance and take over. Which would be mildly awkward, he would have to impersonate Mhalir himself, but he's done that successfully before to Mhalir's subordinates, when he recaptured the fleeing Pool ship after the attempted coup.
Anyway, they don't need any Andalite resources for the first step, but once the leadership is out of commission, they'll want to secure the planet they're based on, so Leareth would appreciate being able to Gate in a large number of Andalite soldiers. He gives them coordinates for a star system they could stage in, which he's already checked is a very feasible interplanar-Gate distance. (Leareth doesn't offer the actual location of the Yeerk Council, which is secret, even from most of the Yeerks. He doesn't think this would happen, but he absolutely doesn't want any Andalites getting ideas about attacking first.)
Then he can describe their less-finalized plans of attack for the other Yeerk-held worlds. It won't be as clean, the Yeerks are very likely to get a courier out in time to warn the Yeerks in control of the other conquered planets, but they have a lot of resources and the Yeerks still won't know much about Leareth's capabilities and he hopes they can do it without too many casualties, Andalite or human, and hopefully minimal Yeerk-and-host deaths as well.