Leareth does not go into detail on what the tactics successfully used on Earth were; he says that some of them should work elsewhere just fine and some were pretty context-specific. They have detailed, if somewhat out-of-date, intel on most of the other Yeerk worlds, due to the surrendered and now-cooperative Yeerks on Earth. Using Gating or surface-hyperspace-jumps to arrive unseen should work on other worlds, and Velgarth's mindreading and mind-control capabilities will be very useful, especially as long as the other Yeerk worlds have no idea they exist. His current ideas for this mainly involve copious use of those abilities, plus maybe some cooperative Yeerks, cooperation potentially enforced via Velgarth mind-control, going in with misinformation.
He has a preference that the less culpable Yeerks not end up dead, since they didn't choose to be born as Yeerks and can, in fact, be rendered harmless via Velgarth magic. He thinks most Yeerks would have no problem at all with the kinds of compulsions that let their hosts override them or block them from specific actions - they do value having hosts at all, but mainly for the company and the sensory experiences, being in control all the time doesn't seem to be necessary - and given that, he wants to figure out a way they can integrate peacefully with the rest of the galaxy. Earth may be a good place to start since it seems like humans may on average get along unusually well with Yeerks. Leareth is happy to take responsibility for the captured Yeerks not personally guilty of war crimes, and find a place for them that doesn't involve any kind of enslavement. He hopes that Andalites and Yeerks will eventually be on better terms, but he understands that after decades of a war as brutal as this one, this is likely to take a very long time.