In a large pot of boiling salted water, cook pasta 1 minute less than package instructions. Add escarole and cook 1 minute. Reserve 1/2 cup pasta water, then drain.
In a large skillet, heat oil over medium-high. Add garlic and cook 30 seconds. Add shrimp, season with salt, and cook until opaque throughout, 4 minutes. Add pasta mixture and 1/4 cup pasta water and cook, stirring, 1 minute. Stir in yogurt, feta, and dill. If necessary, add remaining pasta water to create a light sauce that coats pasta. Season with salt and pepper
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