Preheat your oven to 425°F and line a 12-cup muffin pan with paper muffin liners or lightly grease it with nonstick cooking spray. Whisk to combine the flour, baking soda, baking powder, and salt in a large bowl and set aside.
Next, in another large mixing bowl, add the room-temperature butter, dark brown sugar, and granulated sugar together with a hand mixer on medium speed until smooth.
Next, add the eggs to the sugar-butter mixture and mix on low until combined.
Then add the yogurt, vanilla, lemon juice, lemon zest, and lemon extract, and mix with an electric mixer on low speed for about thirty seconds until smooth.
Add the dry ingredients slowly into the wet ingredients, slowly folding with a spatula until combined. It is ok if the batter is a little lumpy.
Scoop the batter and fill each paper liner almost to the top. (I use a ¼th cup (2 ounce) ice cream scoop or cookie scoop).
Bake the muffins for 6 minutes at 425°F, then without opening the oven door, reduce the oven temperature to 350°F and continue baking for 10-12 minutes or until a toothpick inserted into the middle of a muffin comes out clean.
Allow the muffins to cool for 5 minutes, then transfer them to a wire cooling rack.
Meanwhile, combine one cup of powdered sugar and two tablespoons of fresh lemon juice in a small bowl and stir until the glaze is the consistency of a thick syrup. If the glaze becomes too thick when it's time to glaze the muffins, add ¼ teaspoon of water or lemon juice and stir until it reaches a thick syrup consistency.
Once the muffins have cooled, drizzle each muffin with lemon glaze and enjoy!