Does force between two charges depend on medium?
Yes
The electric field intensity $\overrightarrow E$ (volts/meter) at point 2 due to a point charge $Q_1$ at point 1 is
$$\overrightarrow E=\frac{Q_1}{4πεr^2}\overrightarrow a_{r12}$$
where
$\overrightarrow a_{r12}$ = a unit vector directed from 1 to 2
$r$ = the distance between points 1 and 2
$ε$ = the permittivity of the medium.
The dielectric constant, or relative permittivity $ε_r$ is
$$ε_{r}=\frac{ε}{ε_0}$$
where $ε_0$ = the permittivity of free air or a vacuum. Thus
$$\overrightarrow E=\frac{Q_1}{4πε_{r}ε_{0}r^2}\overrightarrow a_{r12}$$
A charge $Q_2$ placed at point 2 will experience a force $\overrightarrow F$ of
$$\overrightarrow F=Q_{2}\overrightarrow E=\frac{Q_{1}Q_{2}}{4πε_{r}ε_{0}r^2}\overrightarrow a_{r12}$$
So the force experienced by $Q_2$ due to the electric field at point 2 will be inversely proportional to the dielectric constant $ε_{r}$.
From Newton's third law the force experienced by $Q_2$ at point 2 due to the field created by $Q_1$ at point 1 is equal and opposite to the force experienced by $Q_1$ at point 1 due to the field created by $Q_2$.
The third equation also tells us that, for a given $Q_1$ located at point 1, the strength of the electric field at point 2 is inversely proportional to the dielectric constant of the medium.
If instead of point charges we were dealing with a parallel plate capacitor of given plate separation, plate area, and net positive and negative charge on the plates, if we use a material between the plates having a greater dielectric constant, it effectively reduces the strength of the field due to the partial polarization of the molecules of the dielectric as pointed out in the answer of @probably someone. Since the voltage $V$ across the plates is $V=Ed$, the voltage is reduced.
Finally, since the capacitance of the capacitor is related to the charge and voltage by
$$C=\frac{Q}{V}$$
Increasing the dielectric constant increases the capacitance of the capacitor.
Hope this helps.