Camunda BPMN/Modeler custom component domain-specific creation

Is it possible to create a custom component in Camunda BPMN, for example, extend an existing Service Task to make it domain-specific, add it to Camunda Modeler, and limit its properties only to those I specify?

The idea is to provide Camunda Modeler to users of the system so that they can operate with custom, application-specific components and a predefined set of properties.

There is indeed.
You can build a connector - You can read about them here and you can see some examples of existing ones in the marketplace.

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