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This is a simple search for their helm chart and look over the docs what should be placed in the config map.

As an add-on manifest for your cluster :

apiVersion: <http://helm.cattle.io/v1|helm.cattle.io/v1>
kind: HelmChartConfig
metadata:
  name: rke2-ingress-nginx
  namespace: kube-system
spec:
  valuesContent: |-
    controller:
      config:
        keepalive_timeout: "10m" #or whatever your target value is