You are making the mistake of assuming that the distribution applies to your entire data where in actuality it applies to each observation. A single observation of milk yield, if that's what you are modelling, cannot be negative so the observations cannot be distributed Gaussian as this distribution allows for 0 and negative values, none of which would be admissible for milk yield^1.
Yield cannot be distributed negative binomial either as that allows 0s, but also this distribution has support on the set of non-negative integers, 0, 1, 2, etc. Milk yield values are continuous, not discrete.
The same issue means it can't be Poisson. And the Poisson is not even used to model overdispersed counts so I don't see how it could be useful for overdispersed anything...
Logical choices for the conditional distribution of $y_i$ then are continuous distributions with support on the positive reals. The gamma and log-normal distributions would be common choices to start modelling with.
That MCMCglmm doesn't support the gamma distribution shouldn't stop you modelling these data. Did you need this for the phylogenetic random effects it allows? If so, the brms package can fit these kinds of phylogenies and it has the gamma and log-normal distributions. It also estimates model parameters using a flavour of MCMC using the Stan probabilistic programming language. brms provides a user-friendly formula-based interface to specifying models.
See this vignette for info on the phylogenetic capabilities in brms to see if it meets your specific needs: https://cran.r-project.org/web/packages/brms/vignettes/brms_phylogenetics.html
[1:] unless you are modelling milk/no milk and milk yield given the cow gave milk via a hurdle model. In general 0
s are not allowed because you cannot possibly differentiate from 0 milk and a trivially small amount of milk. In other words, below some positive amount of milk (the detection limit) you don't actually know what the value was. This would require a hurdle model (detect / no-detect hurdle followed by a gamma or log normal for milk yield given a detection), or a censored model.