The ESV translated "proceeded" which is quite literal meaning of the Greek prostithemi. Wiktionary lists these words to define >προστίθημῐ • (prostíthēmi)
to put in front of
to hand over, deliver
to grant, bestow
to attribute, impute
to add, increase
LSJ states: "5. in LXX and NT, continue or repeat an action", which includes προσθεῖσα ἔτεκεν υἱόν she bore another son LXX Ge. 38.5, which suggests the word means to continue.
Since it is better to use "proceeded" than "having added" in English, the ESV should be preferred, or NASB, NJB "went on to tell a parable". It would be crude and poor English to simply translate word for word like RV, YLT "added and spoke", this kind of phrase is unnatural. The verse states this is parable is spoken immediately in continuation of the same teaching in context, there is no missing story to what he is adding something to, but he is simply continuing.
It should be noted that the YLT is an extremely misguided version which is based on an interlinear approach of word for word, ignoring the great difference of verbal aspect in the original languages. It should be avoided at all cost for students trying to learn the original languages or to study translations in detail, lest such bad translations will only cause confusions and misguidance. The YLT make amateur Bible students an easy target as most of us are initially obsessed with comparing translations, and then move towards an interlinear, mechanical type translation hoping for accuracy without learning the linguistic technicalities.
Michael Marlowe writes about the Young's translation:
Young's translation is designed to assist students in the close study of the Biblical text by reproducing in English the Hebrew and Greek idioms, in an exceedingly literal translation. In the New Testament his translation is based on the text of Estienne 1550..... It will be noticed that the English is highly unnatural. In the pursuit of minute accuracy, Young tries to represent the Greek tenses with certain English tenses consistently, he tries to adhere to the word-order of the original, and he consistently translates a Greek word with the same English word in all of its occurrences. But in doing these things, he often fails to give the sense of the Greek correctly in English. It is doubtful whether the translation is really of much help to those who do not know Greek, because here the English is being forced to observe rules of the Greek language. The reader must become familiar with Greek syntax and vocabulary in order to make sense of the English! Regarding Young's translation of the Old Testament, F.F. Bruce writes that "it is largely vitiated by an eccentric theory about the tenses of the Hebrew verb." (The English Bible: A History of Translations, p. 132.) The method of the translation and its rationale—including his theory of the Hebrew tenses—are fully explained in the Prefaces.
I recommend easy self learning methods and books to learn Greek (John Dobson's Learn NT Greek, and duolingo) rather than falling in the trap of bad translations.