Configuration to automatically restart API servers like K8s?

[TheOnlyWei]

Is there a configuration or simple code change to automatically restart K3s API servers, i.e., k3s.service, when we do a service account signing key rotation by following the instructions in the link below?
https://docs.k3s.io/cli/certificate#service-account-issuer-key-rotation

Currently, we need to do this manually, which requires a pod with host access to make a restart call via chroot or D-bus, which requires elevated permissions for the pod, especially if AppArmor is present. To minimize the security privileges of my pod, I am trying to figure out if there is some simple code or configuration that I can make so that my K3s control plane nodes will automatically restart its API servers or k3s.service just like when rotating the service account signing key by modifying /etc/kubernetes/manifests/kube-apiserver.yaml and /etc/kubernetes/manifests/kube-controller-manager.yaml in K8s clusters.