Configuring verification_mode for Elastic Agent & Fleet Server

Take the following configuration as an example reference:

fleet:
  ...
  server:
    host: 0.0.0.0
    internal_port: 8221
    output:
      elasticsearch:
        hosts:
        - 192.168.122.196:9200
        protocol: https
        proxy_disable: false
        proxy_headers: null
        service_token: <REDACTED>
        ssl:
          certificate: <REDACTED>
          certificate_authorities:
          - <REDACTED>
          key: <REDACTED>
          renegotiation: never
          verification_mode: full
    policy:
      id: fleet-server-policy
    port: 8220
    ssl:
      certificate: <REDACTED>
      certificate_authorities:
      - <REDACTED>
      client_authentication: <REDACTED>
      key: <REDACTED>
  ssl:
    certificate: <REDACTED>
    certificate_authorities:
    - <REDACTED>
    key: <REDACTED>
    renegotiation: never
    verification_mode: certificate
  timeout: 10m0s

Setting fleet.server.output.elasticsearch.ssl.verification_mode to full is quite the easy endeavor, the Kibana API for configuring the output (config_yaml in the output API) allows you to write custom YAML that is appended onto this item. However, for fine controlling fleet.server.ssl.verification_mode (if such an option exists), as well as fleet.ssl.verification_mode, I am currently unsure of how to approach configuring these items.

My first thought was to write options as an appending item to elastic-agent.yml, but it appears that this wipes out the rest of the configuration and I am attempting to avoid having to write the full elastic-agent.yml configuration for each agent for this purpose as it removes a lot of the benefit of Fleet Server's SSL configuration options.

My second thought was the Agent policy YAML configuration, but that appears to be rooted in agent: much like how the YAML configuration in output is rooted in output.

What are the available avenues to set these two configuration options for fine-controlling mTLS trust? Is such an option available? I am writing this in an automated manner, so writing files isn't out of the question.