Based on the edx-platform documentation and source code, I believe this is the plugin you need:
name: courseprerequisistes
version: 0.1.0
patches:
common-env-features: |
"MILESTONES_APP": true,
"ENABLE_PREREQUISITE_COURSES": true
@cacciaresi @CherieCAF @ChristianBarrientos Would you be so kind as to test this plugin and check whether it achieves what you want? If yes, I’ll add the configuration to the defaults.