One of the most important 10th century Arab travelers to Yemen was Shams al-Dīn Muḥammad b. Aḥmad (d. 380/990). His most important text, which was published in Arabic in 1906, is Aḥsan al-taqāsīm fī maʿrifat al-aqālīm. There is also an English translation:The Best Divisions for Knowledge of the Regions. There are a number of manuscripts, including one from the Suleimaniye Library in Istanbul, from which the map above of Yemen is taken. The straight red lines indicate major roadways between major cities.
Below are two pages from his text, but there is much more on Yemen.
From the Facebook site of Murad Rabī‘