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Preheat your oven to 375°F (190°C). Line a muffin tin with paper liners or nonstick spray.
In a medium bowl, whisk together the flour, baking powder, baking soda, and salt. Set aside.
In a large bowl, cream together the softened butter and sugar until light and fluffy. Add the eggs one at a time, beating well after each addition.
Mix in the yogurt, milk, lemon and orange zest, and vanilla until well combined.
Gradually add the dry ingredients to the wet ingredients, mixing until just combined. Be careful not to overmix.
Gently fold in the blueberries until evenly distributed throughout the batter.
In a separate bowl, prepare the crumble topping by combining the sugar, flour, cold butter cubes, and chopped rosemary. Use your fingers to rub the mixture together until it resembles coarse crumbs.
Spoon the muffin batter into the prepared muffin tin (I used a jumbo tin, you can use a regular muffin tin), filling each cup about ⅔ full.
Sprinkle the rosemary crumble evenly over the top of each muffin.
Bake in the preheated oven for 18-20 minutes (14-16 for smaller muffins) or until a toothpick inserted into the center comes out clean.
Allow the muffins to cool in the tin for 5 minutes, then transfer them to a wire rack to cool completely.