pos/pos_pricelist/views/pos_config_view.xml

<?xml version="1.0" encoding="utf-8"?>
<!-- Copyright 2018 Tecnativa - Jairo Llopis
     License LGPL-3.0 or later (https://www.gnu.org/licenses/lgpl). -->

<odoo>
    <record id="view_pos_config_form" model="ir.ui.view">
        <field name="name">pos.config.form.view</field>
        <field name="model">pos.config</field>
        <field name="priority">100</field>
        <field name="inherit_id" ref="point_of_sale.view_pos_config_form"/>
        <field name="arch" type="xml">
            <xpath expr="//field[@name='pricelist_id']" position="replace"/>

            <xpath expr="//sheet">
                <group
                    name="pricelist_setting"
                    string="Pricelists"
                    groups="product.group_sale_pricelist">
                    <group>
                        <field name="use_pricelist"/>
                    </group>
                    <group attrs="{'invisible': [('use_pricelist','=',False)], 'required' : [('use_pricelist', '=', True)]}">
                        <field
                            name="available_pricelist_ids"
                            widget="many2many_tags"/>
                        <field
                            name="pricelist_id"
                            domain="[('id', 'in', available_pricelist_ids and available_pricelist_ids[0] and available_pricelist_ids[0][2] or False)]"
                            options="{'no_create': True}"/>
                        <button
                            name="%(product.product_pricelist_action2)d"
                            icon="fa-arrow-right"
                            type="action"
                            string="Pricelists"
                            class="btn-link"/>
                    </group>
                </group>
            </xpath>
        </field>
    </record>
</odoo>