The default Jira can only block the transition if you have enabled the condition Sub-task Block condition. If you want to do it based on linked issues you would need an app like Scriptrunner which extends the conditions that you can add. There are other apps in the Marketplace that can do this so have a look there and see what you find.
An alternative would be to use automation, it would prevent you from transition the issue but you can add a check that moves the issue back to the previous status if there is a linked issue that should block the transition. As part of that automation you could add a comment to the issue and explain why the issue was transitioned back.
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