Below is the validation rule
(TEXT(Full_Care_Confirmed__c)) == 'Yes'
&&
(
((ISPICKVAL(CPQ_Order_Type__c,'Corporate-Full Care Equipment Domestic'))
||
ISPICKVAL(CPQ_Order_Type__c,'Corporate-Full Care International')
||
ISPICKVAL(CPQ_Order_Type__c,'Corporate-Full Care Demo Equipment Accept')
||
ISPICKVAL(CPQ_Order_Type__c,'Canada-Full Care Equipment')))
IF full care confirmed picklist field is set to YES then CPQ_Order_Type__c picklist value should be any of the above