The short answer is, yes, and don't let the menu offerings overwhelm you because on top of ordering chicken you'll be coming back again. No order is wrong.
If you have never been to the Yakima Taco Fest before, here's what basically happens: You buy a ticket, they give you a wristband and some food truck and drink ticket script, and then you walk around until you find a taco truck you like and stand in line (could be for hours, just saying) to buy samples of a delicious variety of tacos. There will be and cornhole boards, lively Mexican bands, and lots of dancing, so bring your boogie shoes!