I added the stages: to main pipeline and moved the job templates inside stage: statements. Added DependsOn to stage:.

This changes in pipeline.yaml file avoided change in azure-build.yaml file and solved my purpose to add dependency between two jobs.

e.g.

Pipeline.yaml

stages: 
  - stage: 'build'      
    jobs:
    - template: azure-build.yaml@templates
      parameters:
      ...
  - stage: 'test'
    dependsOn: 'build'
    jobs:
    - template: azure-test.yaml@templates
      parameters:
      ...