Configuring On-failure Destination for Lambda ESM

[puravidafred]

Hey everyone! For a given AWS Lambda with a Self-Managed Kafka Event Source Mapping, is there a way to specify the on-failure destination in the event configuration through serverless?

I checked these docs, but the examples don't have anything similar to a onFailure, destination, etc keyword to configure an SQS or S3 location upon failing to process a batch of records. Is there a different way to configure an on-failure destination for an ESM?

I can do it manually in the aws console, when I create the trigger so I would hope I could do these through serverless as well. Any input is super welcomed!