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evaluations: Yup.array().required()
    .min(1, "At least one evaluation entry is required")
    .test(function (objValue) {
      if (objValue && objValue.length > 0) {
        const hasEmpty = objValue.some(
          (v) => !v.condition || !v.source || !v.value
        );
        if (hasEmpty) {
          return this.createError({
            message: "Please Evaluate all fields",
            path: "evaluations",
          });
        }
        return true;
      }
    }),

Details:
you can use .test() method to apply your custom condition on it, 
In above code, we want to check the inside fields present in an array should also contains value.
Array:
[{
    value:'test',
    condition:'>'
   ..//
}]