full <- full %>% 
  mutate(Title = case_when(
    Title %in% c('Mlle', 'Ms') ~ 'Miss',
    Title == 'Mme' ~ 'Mrs',
    Title %in% rare_title ~ 'Rare Title',
    TRUE ~ Title
  ))
Code above gives an error: Error in eval(substitute(expr), envir, enclos) : object 'Title' not found
However, below code works. Is the data-frame name required inside case_when (makes the code more verbose).
full <- full %>% 
  mutate(Title = case_when(
    full$Title %in% c('Mlle', 'Ms') ~ 'Miss',
    full$Title == 'Mme' ~ 'Mrs',
    full$Title %in% rare_title ~ 'Rare Title',
    TRUE ~ full$Title
  ))