No. You can use any DAW you desire. You only find direct support for Cubase because it ships with the Motif XF - each original purchaser of many Yamaha Synthesizers receive a free entry level version of Steinberg’s Cubase AI. This runs on Windows and Macintosh, and has special features to allow some advanced integration with the XF.

You can use GarageBand but for support in setting it up you should contact Apple support. While they may not know the ins and outs of the Motif XF, that you can find out about here. We cannot keep up with every update and change in every software program and support for GarageBand would certainly be more thorough coming from those responsible for supporting it.

You’ll just need to tell them you have a synth keyboard that can connect to your computer... the XF. And you’ll need to tell them how you are connecting. You’ll need to get audio and MIDI communication going between the the devices, you will need speakers that will connect to your audio interface (the computer’ built-in audio is not sufficient for your purpose).

Your options are:
Use the Motif XF as your Audio/MIDI interface. This requires the FW16E (FireWire expansion) for the XF.
Use an external audio interface, in which case you’ll connect the XF’s L/R Outputs to this audio interface and it will handle sending and retrieving audio from your computer and to your monitor speakers.

The USB connection from XF is MIDI only.

You could record everything in the XF itself, it is a Workstation (and simply export a .Wav as the finished product (bypassing GarageBand altogether) or you could just export the XF’s contribution as .Wav files and bypass real time recording to the computer. You could literally drag and drop Motif XF .wav data into your software DAW.

But either way, for support on GarageBand contact Apple, for help with the XF, or selecting connection methods... this is the place. In reality all recording software fundamentally works the same, so it’s just a matter of finding where they hide the functions...