You can check below Js code
<script type="text/javascript">
require(['jquery'], function($) {
$(document).ready(function() {
var ckbox = $('#checkout-order-approval-permission');
$('#checkout-order-approval-permission').on('click', function() {
if (ckbox.is(':checked')) {
$("#checkout-order-create-permission").prop('required', true);
} else {
$('#checkout-order-create-permission').removeAttr('required');
}
});
});
});
</script>