If you change the empty values inside the "Action Plan" tab to Yes. You can use the following formulas:

Note:
I added a message in case the Time & date and the location do not match with the information in the "Action plan" tab
Question 1:
=IFNA(IF(FILTER('Action plan'!$D$2:$D,'Action plan'!$A$2:$A=$F$1,'Action plan'!$B$2:$B=$F$2)="Yes","True","False"),"Time and location need to match")
Question 2:
=IFNA(IF(FILTER('Action plan'!$E$2:$E,'Action plan'!$A$2:$A=$F$1,'Action plan'!$B$2:$B=$F$2)="Yes","True","False"),"Time and location need to match")
Question 3:
=IFNA(IF(FILTER('Action plan'!$F$2:$F,'Action plan'!$A$2:$A=$F$1,'Action plan'!$B$2:$B=$F$2)="Yes","True","False"),"Time and location need to match")
Question 4:
=IFNA(IF(FILTER('Action plan'!$G$2:$G,'Action plan'!$A$2:$A=$F$1,'Action plan'!$B$2:$B=$F$2)="Yes","True","False"),"Time and location need to match")
Question 5:
=IFNA(IF(FILTER('Action plan'!$H$2:$H,'Action plan'!$A$2:$A=$F$1,'Action plan'!$B$2:$B=$F$2)="Yes","True","False"),"Time and location need to match")
The result will be:

I added a Data Validation on my copy to make it easier to change the location and the time.
Like this:

Reference: