Well the DML scheme refers to 1942, but dark Yellow wasn't introduced until February 1943.
Between July and October 1942 37 “specials” reached North Africa, but only 30 were present at the start of the second battle of Alamein. These would definitely be dark sand RAL 8020. (As a side note Ausf F2s were known as the Mark IV Special to the British. In June 1942 all F2s were re-designated as Ausf G).
Pz.Rgt.8, 15 Pz. Division though would still be kicking around until the final surrender in Tunisia on May 12th 1943. So in a round about way, yes to Tamiya's dark yellow.
regards,
Jack