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").
When it is called, the form cannot be submitted, and the provided error message will become visible to the end user.
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.