const schema = yup.object({
  mileage: yup
    .number()
    .min(1, 'Минимальное допустимое значение - 1')
    .max(9999999, 'Максимальное допустимое значение - 9999999')
    .nullable()
    .default(0)
    .required('Выберите модификацию'),
});

  const {handleSubmit, control, setError, watch, setValue} = useForm<
    Record<keyof CarFormValues, '' | CarFormValues[keyof CarFormValues]>
  >({
    defaultValues: {
      mileage: null,
    },
    resolver: yupResolver(schema),
  });

<Controller
          name="mileage"
          control={control}
          rules={{required: true}}
          render={({field, fieldState}) => (
            <TextField
              {...field}
              fullWidth
              required
              label="Пробег"
              size="small"
              helperText={fieldState.error?.message}
              error={fieldState.invalid}
              margin="normal"
            />
          )}
        />