CommandBox/CfConfig and REST

I’m looking for a way to streamline our deveops, and I’ve been playing around with CommandBox and CfConfig a lot, both seem promising. I see you can enable and configure the server-wide REST handler via CommandBox in server.json (https://commandbox.ortusbooks.com/embedded-server/configuring-your-server/rest-servlet)

server set app.restMappings=/rest/*,/api/*

And I see you can set-up regular mappings via CfConfig (https://cfconfig.ortusbooks.com/introduction/config-items)

#Key is virtual path, value is struct of properties 
name='CFMappings' type='struct'

But is there a way to configure the REST mappings that doesn’t involve copying/editing lucee-web.xml or going into the Administrator page?