Can I delegate a subdomain to a different DNS server

I want to register a domain with cloudflare for which currently my primary usecase is to use a subdomain for dynamically provisioned services.

I want to redirect DNS requests for *.subdomain.mydomain.com to my DNS server

When registering a domain there is this note
"Note: You cannot change the nameservers of a domain registered with Cloudflare. Learn about registering a domain."

Will my setup be possible? Is this only regarding the authoritative DNS server for the prirmary domain?
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