Background: I've been working through Guillemin and Pollack's "Differential Topology." They take the approach of defining smooth manifolds as "concrete" submanifolds of some ambient $\mathbb R^N$, as opposed to "abstract" topological spaces with charts and atlases. In my opinion, this approach leads to better intuition about the subject. Moreover, even in the standard "abstract" approach we can establish the Whitney embedding theorem, meaning that we aren't losing generality by working "concretely."
With this viewpoint of "abstract" vs "concrete" definitions, I realized that the Whitney embedding theorem with its ambient $\mathbb R^N$, and Cayley's theorem with its ambient symmetric group $S_N$, are of the same flavor. I know that there are many other representation theorems in math like these two, and that many can be viewed as generalization of the Yoneda embedding.
However, I can't find any sources that include the geometric representation theorems like Whitney and Nash in this Yoneda or categorical framework. So, I'm asking:
Question: Can the Yoneda lemma or other category theory be used to unify the Whitney embedding theorem with Cayley's theorem and/or other representation theorems in math?
My background consists of the category theory that showed up in the first year grad school, e.g. in an algebraic topology sequence and commutative algebra. However, any comments on this circle of ideas is greatly appreciated. Thank you in advance!