Yes, that is possible and the way do it is to use the Link Work item feature. You use the out-of-the-box link types or create your own. Note that if you want to create your own you need Jira admin permissions.
Thank you, is there an article that outline the steps? I opened the task then selected the Add button, Child work item, then searched for the task by entering the key # but it is not displaying the other tasks so I can't select the one I want as a dependency,
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Here is a KB for how to link work items, but basically you just go into one of the items you want to link and click +Add and select Linked work item and you will see something like this:
Just select the link type and then in the Search for work items enter the work item key or search on the summary.
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