Zeebe is a highly-scalable, cloud-native microservices orchestration engine that uses BPMN to orchestrate microservices.
You could do something like create a worker that subscribes to many task types and has a map for the task type to the REST endpoint that should be invoked for it.
The important thing to understand is that workers subscribe to a task type, and poll for jobs of that task type. So it is a pull model, rather than the push model of REST, where the broker would invoke a REST service.
The pull model means that you can scale the workers without configuring routing or load-balancing, as you would need to do if it were a push model.
If you are writing a system from scratch, then you can put your business logic directly in a polling worker - or you can put the business logic in a REST endpoint if you need to reuse it from other places, and wrap the REST call in a Zeebe worker.