ΔE 23.9, loose: different enough that you should pick on purpose. Estus Yellow is noticeably lighter, much more muted, cooler than Ancient Honey.
Not as a straight swap; see the closer alternatives below. Loose match (ΔE 24). Estus Yellow is noticeably lighter, much more muted, cooler than Ancient Honey.
The same difference applies the other way round: Ancient Honey is noticeably darker, much more saturated, warmer.
ΔE is the colour difference between our two swatch estimates: under about 6 is close, over about 15 is loose. Real paints also differ in finish, coverage and how they thin, so test before you commit.
See Ancient Honey on the colour wheel See Estus Yellow on the colour wheel
All matches: Ancient Honey equivalents · Estus Yellow equivalents