I don't see how this could work in a INI file
[vyos:vars]
ansible_connection=network_cli
ansible_network_os=vyos
ansible_user=my_vyos_user
ansible_ssh_pass= !vault |
      $ANSIBLE_VAULT;1.2;AES256;my_user
      
66386134653765386232383236303063623663343437643766386435663632343266393064373933
      
3661666132363339303639353538316662616638356631650a316338316663666439383138353032
      
63393934343937373637306162366265383461316334383132626462656463363630613832313562
      
3837646266663835640a313164343535316666653031353763613037656362613535633538386539
      65656439626166666363323435613131643066353762333232326232323565376635
| is used by YAML
hence the error " Expected key=value, got: 
$ANSIBLE_VAULT;1.2;AES256;my_user"
this seems to be OK
all:
 hosts:
   test:
 vars:
  ansible_connection: network_cli
  ansible_network_os: vyos
  ansible_user: my_vyos_user
  ansible_ssh_pass: !vault |
      $ANSIBLE_VAULT;1.2;AES256;my_user
      
66386134653765386232383236303063623663343437643766386435663632343266393064373933
      
3661666132363339303639353538316662616638356631650a316338316663666439383138353032
      
63393934343937373637306162366265383461316334383132626462656463363630613832313562
      
3837646266663835640a313164343535316666653031353763613037656362613535633538386539
      65656439626166666363323435613131643066353762333232326232323565376635

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