Can we configure Idle session timeout message and the timing

Idle Session Timeout (Minutes): The number of minutes that a user can remain inactive before the system signs them out. Users will be warned five minutes before their session expires. After two more minutes, if the user remains inactive, they will be signed out. The minimum valid value is 10 minutes and the maximum valid value is 480 minutes (8 hours).

Users get the warning before 5 minutes of system expiry and after 2 minutes, the user gets signed out.

Can we configure this 5 and 2 minutes. And is it possible to configure the timeout message.