Yes I have pcsc-shared in my scdaemon.conf.
I've just tried removing both pcsc-shared and disable-application piv and PIN caching worked as expected.

I just wanted to report that I'm having this issue on Fedora 39, with GnuPG version 2.4.4.
I'm being asked for the PIN for every operation (Sign, Decrypt, Authenticate) I'm having this issue on 2 different laptops using YubiKey 5C NFC and YubiKey 5C Nano (Firmware version: 5.4.3).
I tried disabling PIV (disable-application piv) and then PIN caching started working again, so I just wanted to report this as it's marked as resolved.