It seems that some of the crossref options do not work for pdf formats.
I included the following in the YAML header:
crossref:
fig-title: "**Figure**"
tbl-title: "**Table**"
title-delim: "."
fig-prefix: Fig.
tbl-prefix: Table
When rendered to html, all the options work properly.
For pdf output, the fig-prefix and tbl-prefix were rendered as expected, but the fig-title, tbl-title, and title-delim were still rendered with default formats.