I followed the same instructions on the wiki mentioned in this previous post:

http://yetanotherforum.net/forum/posts/t21084-YAF-DNN-Upgrade-from-1-9-6-1-to-2-2-4-2 

Like the poster and the documentation, I go to the following URL path:

/DesktopModules/YetAnotherForumDotNet/install/Default.aspx

When I do that, the "from" version and the "to" version for the YAN DNN version are the same. Is the wiki missing a download step or something?

https://github.com/YAFNET/YAFNET-DNN/wiki/Installation-Upgrading 

What is the step I'm missing and can't find? Should I just use the DNN installer instead for the upgrade? If I do, do I still also need to go to that URL mentioned above for the database upgrade?

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You install the upgrade via the dnn extension installer just like a normal dnn module! After that the yaf upgrade wizard will start automatically when you view the forum.