Biz dünyadan gider olduk
Kalanlara selâm olsun.
Bizim için hayır dua
Kılanlara selâm olsun
Ecel büke belimizi
Söyletmeye dilimizi
Hasta iken hâlimizi
Soranlara selâm olsun
Tenim ortaya açıla
Yakasız gömlek biçile
Bizi bir âsân vechile
Yuyanlara selâm olsun
Selâ verile kasdımıza
Gider olduk dostumuza
Namaz için üstümüze
Duranlara selâm olsun.
Derviş Yunus söyler sözü
Yaş dolmuştur iki gözü
Bilmeyen ne bilsin bizi
Bilenlere selâm olsun.

Tried to translate it:

We are set to leave this world
Greetings to those staying
May peace be unto those who
for our sake praying
Should death fall upon us
Binding forever our tongues
May peace be unto those
who care about us when we ail
When my naked body gets exposed
and is shrouded in the gown of death
May peace be unto those
Who hang me and wash the corpse
May prayers ring our names
As we depart from this world
May peace be unto those
Who stand together to pray for our sake
Yunus the dervish thusly utters
With his eyes all filled with tears
Those who don't know us will not any longer
May peace be unto those who knew us.

Those who don't know us will not any longer
May peace be unto those who knew me.

How can those who do not know, know us?
May peace be unto those who knew us

I think the translation is great, but I have an alternative for the last two lines.

My alternative may seem strange to those who are not very familiar with Yunus, Yunus is a sufi. what he means by "Those who do not know" are people not close to god or sufi philosophy.

Thought about that option and didn't like the repetitions and did not want to create a rhyme that did not exist in the original either. I am not seeking 100% accuracy. The translation can of course be improved but it will take time.