One option may be to coordinate your refresh token expiry with your session expiry https://auth0.com/docs/manage-users/sessions/session-lifetime-limits#application-specific-logout-urls for example you might sync the session inactivity timeout with your refresh token expiry. This may give you the behaviour you are looking for as when the refresh token expiry is reached the session expiry time will also be reached (if further access tokens have not been received ) and the user will have to re-authenticate.
I would suggest you test this scenario using short timeouts and observe behaviour to see if this meets your needs.