apache kafka – Is there a way that Service A would do the data message and publish it back to the same topic and Service B would consume it?

We are just starting to use Kafka and I am just getting to know the the different functionalities of Kafka.
we have a requirement, where an event sent thru a Kafka topic needs to be consumed one service (say Service A). Service A does some data messaging to that event and publishes back to Kafka topic. And it would then need to be consumed by Service B and so on.
So this can be implemented by using different topics for Service A, B and C. But I am wondering if there is more efficient way to do this, using some of Kafka’s capabilities (which I am not very sure of).
Is there a way that Service A would do the data message and publish it back to the same topic and Service B would consume it. So basically is there a way of kafka messages to be consumed by services in sequence?
Is event sourcing a way to implement this?
Thank you in advance!

I tried to have individual topics for each of the services. I am wondering if we there is a more efficient to implement this.