1) After going up, we must now go down to retrieve possible information at the level of $K$. We stick to the case where $K_{\infty}$ is the cyclotomic $\mathbf Z_p$-extension and denote $\Gamma=Gal(K_{\infty}/K)$ throughout. Write $Z^{\Gamma}$ (resp. $Z_{\Gamma}$) for the module of invariants (resp. co-invariants) of $Z$ under the action of $\Gamma$, i.e. the maximal submodule (resp. quotient module) of $Z$ on which $\Gamma$ acts trivially. The following are classically known for the module $Y(K_{\infty})$ : (i) $Y(K_{\infty})^{\Gamma}$ is null ; (ii) there is a natural exact sequence $1\to Y(K_{\infty})_{\Gamma}\to Y(K)\to \Gamma=\mathbf Z_p \to 1$ : this follows right away from the inflation-restriction sequence in Galois cohomology, using the fact that $\Gamma$ is a free pro-$p$-group; but a computation "by hand", using commutators, can be found in any textbook in Iwasawa theory, e.g. Washington's "Introduction to Cyclotomic Fields".
2) Things are much less simple for $X(K_{\infty})$ : there is of course a natural map $Y(K_{\infty})_{\Gamma}\to X(K_{\infty})_{\Gamma} (*)$, and what you want to know is $Gal (M/K_{\infty}.H(K))$, or $Gal(K_{\infty}.H(K)/K_{\infty})$ which is the image of $Y(K_{\infty})_{\Gamma}\to X(K)$. One can get a certain hold of the kernel/cokernel of $(*)$ by cutting the exact sequence $(In_{\infty}$) in two, and playing with the snake lemma (relative to the action of $\Gamma$). But this is not a strong hold, essentially because descent does not work smoothly with units.
3) In fact, as stressed before, it is more natural to study $X'(K_{\infty})$ because here we deal with restricted ramification (i.e. in the setting of "étale cohomology"). The relationship between $Y(K_{\infty})$ and $X'(K_{\infty})$ belongs to the so called "Spiegelung" phenomenom, or "mirror relations". At finite level, these are a combination of isomorphism (CFT) and duality (Kummer theory), so the the best setting for "Spiegelung" is at infinite level, above $K({\mu_p}^{\infty})$, where ${\mu_p}^{\infty}$ is the group of all $p$-th power roots of unity. Suppose $p$ odd for simplicity, and put $\Delta=Gal(K({\mu_p})/K)$, $G=Gal(K({\mu_p}^{\infty}/K))$, so that $G\cong \Delta \times \Gamma$. Then we can study our problem over $K({\mu_p})$ and descend to $K$ via $\Delta$ without any problem since $p$ does not divide the order of $\Delta$. The result is the following : the natural surjection $Y(K({\mu_p}^{\infty}))\to X'(K({\mu_p}^{\infty}))$ factors through an Iwasawa adjoint $\alpha (X'(K({\mu_p}^{\infty}))(-1))$ (I don't explain what it is exactly, just view it as a "twisted" dual related to "Spiegelung"), and its image in $X'(K)$ is isomorphic to $Hom (X'(K({\mu_p}^{\infty})), {\mu_p}^{\infty})^G$ . For details, see my article "Sur la $\mathbf Z_p$-torsion de certains modules galoisiens", Ann. Inst. Fourier, 36, 2 (1986), 27-46, thm. 1.1 and propos. 3.1 .
Complement. I forgot to give a link with the special case $K= \mathbf Q (\mu_p)$ which you cite at the end of your post. In this case things simplify greatly because $\alpha (X'(K({\mu_p}^{\infty}))(-1))$ coincides with the $\Lambda$-torsion of $Y(K_{\infty})$. This gives me the opportunity to explain (in the general case) the last isomorphism that you allude to. Actually, in accordance with the approach in section 1) above, but replacing $X(K_{\infty})$ by $X'(K_{\infty})$, we are led to study the map $X'(K_{\infty})_{\Gamma} \to X'(K)$, but in view of determining its kernel. This is achieved by the so called Sinnott exact sequence $1 \to \tilde E'(K) \otimes \mathbf Z_p \to E'(K) \otimes \mathbf Z_p \to {\oplus}' \hat{K_v}^*/\tilde {K_v^*} \to X'(K_{\infty})_{\Gamma} \to X'(K)$ (see Appendix to L. Federer, B. Gross, "Regulators and Iwasawa modules", Invent. Math., 62 (1981), 443-457), where $\tilde {K_v^*}$ is the subgroup of $\hat{K_v}^*$ (notation of my previous post) consisting of the universal norms in ${K_v}_{,\infty}/K_v$, the leftmost term is tautologically defined as the kernel of the 2nd map (which is just induced by the diagonal), and the 3rd map is CFT. In the case $K=\mathbf Q (\mu_p)$, the 3rd term is the $U'(K)$ that you mentioned ./.