You can practice yoga without tantra, though the path is slow and has pitfalls, but tantra without yoga is a disaster, leading to an unhealthy, unbalanced life.
Mia Park explains how she combines the tantric practices she learned as a Para Yoga teacher with her training in restorative yoga.
Tantra is the practice of kundalini awakening. It is a weaving and reweaving—an integrated process of awakening our dormant potential. The fabric of life is made of currents and cross-currents of energy that are woven together in a structured manner.