Redirection is only included in the PRO version of YOAST, not the free version and in pro version there is specific tab for that. See docs on Yoast website for more info.
So, you should either learn to do this in your .htaccess file, or use a plugin like “Redirection” which is somewhat a standard in the WP community.
If you are an advanced user, you can add hooks via filter into the Yoast SEO sitemap to add certain things, but that requires a bit of trial/error and viewing the plugin code to see the hints, as well as some examples on the github repo for the plugin.
Hope that helps!
(I don’t work for Yoast).