ID  Type            Registered
P40 Pre-Initial     Yes
P40 Review
P40 Review
P42 Initial         Yes
P43 Initial         Yes
P43 Review
P44 Pre-Initial     Yes
P44 Review

tt <- structure(list(ID = c("P40", "P40", "P40", "P42", "P43", "P43",
                            "P44", "P44"),Type = c("Pre-Initial", "Review", "Review", "Initial", "Initial", "Review", "Pre-Initial", "Review"),
                     Registered = c("Yes", "", "", "Yes", "Yes", "", "Yes", "")),
                class = "data.frame", row.names = c(NA, -8L))

ID  Type            Registered
P40 Pre-Initial Yes
P40 Review
P40 Review
P43 Initial         Yes
P43 Review
P44 Pre-Initial Yes
P44 Review

tt %>% group_by(ID) %>%
    slice(which(Registered == "Yes" & any(Type != "Review")))
)