Merge resource $form with Pivot Fields

Hello there.

I'm sharing form between Resource amd RelationManager as in documentation :
https://filamentphp.com/docs/3.x/panels/resources/relation-managers#sharing-a-resources-form-and-table-with-a-relation-manager

So far , so good.

The problem is that the relation is a belongstomany (with pivot values).
Is there a way to merge the forms with the pivot fields in the relation Manager form functio?

thanks