Worker Custom Domain without transferring from Route 53

Has anyone successfully set up a custom domain for a Cloudflare worker without transferring the domain to Cloudflare. I currently manage my domain through AWS Route 53 and would like to use a subdomain on it as the custom domain for my worker. I've followed the steps in the official guide but it doesn't seem to explain how to do this while keeping the domain hosted elsewhere.

From what I can tell, Cloudflare expects you to transfer the domains dns management to it which we dont want to do. Has anyone done this successfully? If so what DNS records or configurations did you use to point Route 53 domain to the worker?
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