Yes. You are required to obtain permission from any co-authors to include their work in your thesis. Co-authors can give their permission via the Co-authorship approval form. Please note: this form will be provided to examiners so that they are aware of all external contributions to your thesis to help them assess your original contribution to knowledge.
If there are more than three co-authors then you need to obtain approvals from the three most significant contributors to the work.
If you are unsure whether to include a co-authored publication on the submission of thesis form, it is best to include it.
If the publications are in your appendix, you will not need to obtain approval from co-authors.