While you cannot directly require a "yes" response to a yes or no question, you could create a workaround following one of the below methods.
The calculation field has a function called ERROR("this is the provided error message")
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When it is called, the form cannot be submitted, and the provided error message will become visible to the end user.
Calculation example:
Selecting the plus icon that appears on the right-hand side of the calculation input will allow you to select from your existing questions. This uses answer piping to display the submitter's response.
There are a few examples of preventing submissions in this template.