Implementation for Pivot Turning on PX4

I am wondering if there is any way to achieve pivot turns using PX4 Autopilot?

What I mean by Pivot Turn can be seen in Ardupilot documentation: Tuning Pivot Turns — Rover documentation

In brief, it is a manner of turning where the robot first slows down while reaching a waypoint, then turns towards the next waypoint and then moves straight towards it, in a skid-steering (differential drive) setup. This is super useful for rovers, especially boats. Consider a scenario where the boat must move in a zig-zag manner. Currently, the turns are not tight enough to achieve this zig-zag path.

I’m wondering if there is a way to achieve this behaviour with PX4 Autopilot in Rovers?

Huge Thanks!