Sales return in single document

Hello Everyone,

Client have requirement that whenever there is sales return, there would not a separate document (Sales return order) it should be in single document (a separate line within sales order)

For example: User creates a Sales order#SO1 later customer return material , in present, user select item line which is returned and click on return so there is new document as Sales return with negative amount. Now client wants that there is not another document as sales return, within sales order there should be a another line as return with negative quantity.

Is this feasible if yes, please guide how we can execute it in system?