We study Yang-Baxter sigma models with deformed 4D Minkowski spacetimes arising from classical $r$-matrices associated with $kappa$-deformations of the Poincare algebra. These classical $kappa$-Poincare $r$-matrices describe three kinds of deformations: 1) the standard deformation, 2) the tachyonic deformation, and 3) the light-cone deformation. For each deformation, the metric and two-form $B$-field are computed from the associated $r$-matrix. The first two deformations, related to the modified classical Yang-Baxter equation, lead to T-duals of dS$_4$ and AdS$_4$,, respectively. The third deformation, associated with the homogeneous classical Yang-Baxter equation, leads to a time-dependent pp-wave background. Finally, we construct a Lax pair for the generalized $kappa$-Poincare $r$-matrix that unifies the three kinds of deformations mentioned above as special cases.
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