Polycrystalline samples of NaYbO$_2$ are investigated by bulk magnetization and specific-heat measurements, as well as by nuclear magnetic resonance (NMR) and electron spin resonance (ESR) as local probes. No signatures of long-range magnetic order are found down to 0.3~K, evidencing a highly frustrated spin-liquid-like ground state in zero field. Above 2,T, signatures of magnetic order are observed in thermodynamic measurements, suggesting the possibility of a field-induced quantum phase transition. The $^{23}$Na NMR relaxation rates reveal the absence of magnetic order and persistent fluctuations down to 0.3~K at very low fields and confirm the bulk magnetic order above 2~T. The $H$-$T$ phase diagram is obtained and discussed along with the existing theoretical concepts for layered spin-$frac{1}{2}$ triangular-lattice antiferromagnets