Actually, it's all the same When subordinates answer orders from superiors, they all use words such as "yes, understand, know and obey".
Dynasty? I'm not sure. In many ancient novels, "obeying orders" was used in the Ming and Qing Dynasties. It seems that the Tang and Song Dynasties also "obeyed".
Except the Han Dynasty, all other dynasties used "yes" a little more.
Including the Qing Dynasty, Manchu said "Gai!" Han people say "yes".