Date Match with Multiple Criteria

Hi All,
Hoping someone could help me with the attached please.

Requirements:
I'm looking to bring back a 'Yes' or 'No' in Column E (Sheet2) when the reported date in Column D (Sheet2) for the Vehicle number in Column A (Sheet2) falls between the dates in Columns B&C (Sheet1) for the matching vehicle in Column A (Sheet1).

Any help is much appreciated.
Regards, Andrew

Does this work for you?

Formula:

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Hi, That works, but it only brings back the first instance of dates where the date in column D (sheet 2) meets the criteria.
Best,
Andrew

May be this formula could help?

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That worked perfectly, thank you so much, saved a great deal of time.
Much appreciated