Call Controller from kafka component

I've been searching a lot about it, and the only two things I've found is that my design is possibly bad, but I doubt it is. The problem I am having is that I have Spring Kafka classes, where I have a trigger waiting for the messages that reach a topic, and when that info arrives I want to send it to my controller, and from my controller it will be taken to another microservice.

Could I autowired my controller without creating infinite instances?

When kafka is activated I would like to call a method from my controller.

Code Kafka:

@Component
public class KafkaConsumer {

    private static final String TOPIC = "topic_name";


    @KafkaListener(topics = TOPIC)
    private void listen(String msg) {
        
      //Send msg to my controller
    }
}

@Slf4j
@RestController
@RequestMapping("controllerA")
public class Controller {

   private RestTemplate restTemplate = new RestTemplate();

   @Autowired
   private MyService serviceA;

   // More services....

   private String sendMyMessageToAnotherMicroservice(String msg)
   {
     //Code...
     restTemplate.exchange("MyUrlInAnotherMicroservice:9090", HttpMethod.POST, msg,
                    String.class);
     //Code...
   }
   //More methods....

}

I need my kafka call my method 'sendMyMessageToAnotherMicroservice(String msg)'

Create a separate service to the processor:

@Component
public class KafkaConsumer {

    @Autowired
    private MyKafkaProcessorService service;

    private static final String TOPIC = "topic_name";
    
    @KafkaListener(topics = TOPIC)
    private void listen(String msg) {          
      service.sendMyMessageToAnotherMicroservice(msg);
    }
}


@Service
public class MyKafkaProcessorService {

 //this can be a bean
   private RestTemplate restTemplate = new RestTemplate();

   public String sendMyMessageToAnotherMicroservice(String msg){
         //Code...
      restTemplate.exchange("MyUrlInAnotherMicroservice:9090", HttpMethod.POST, msg,
                        String.class);
         //Code...
   }
}


@Slf4j
@RestController
@RequestMapping("controllerA")
public class Controller {

   //if you need it in the controller then you can autowire there too
   @Autowired
   private MyKafkaProcessorService service;

   @Autowired
   private MyService serviceA;

   // More services....

  
   //More methods....

}