Can HA publish its commands/events to MQTT?

Is there a way to setup an MQTT for Home Assistant in a way, that it is publishing to the MQTT broker its commands and/or events?

Especially when a light was requested to turn on, I wish to have a message on MQTT that such a command was requested (i.e. a HA got the command to turn on the light, not that the light effectively has changed status).

Default MQTT integration does nothing more than sending a status of the HA instance to the queue.

I have used Node Red for somewhat similar tasks.
Get in event, send out MQTT message.

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Thank you Tom! Exactly, what I was looking for.
It wasn’t that obvious when I was browsing the documentation.