Who says South India does not have Gatimaan. It is called Vaigai Express. - Thamizh Maran

Walk out using the overbridge towards NES bus stop, 5 minute walk. From NES , you'll get more buses, even at 930.

Any local person should guide you towards NES.

If you...
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exit from main entrance of station, you'll reach Yelahanka old town, which has a big bus stand ,but buses don't start to majestic (kempegowda BS) from there. You'll have to further walk towards main road. From this bus stand you ll get buses to yeshwantpur every 5 minutes or more.

Buses will be there around 9:30 PM... but frequency is very less.... Bus nos: 285 M, 402B
Once you get down at Yelahanka station... you can exit from PF5 and walk towards NES bus stop, from where you can board the bus.

In case if you have more luggage, you can take auto from PF1 side to Galleria Mall...
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Bus Stop. There also, you can get the buses (same nos: 285 M, 402 B).