How to set up approvals for Transfer Orders?

Summary:

I need to set up approvals for Transfer Orders for moving stock from one inventory organization to another. I went through Knowledge Article KB7757 which mentions that approval for Transfer Order can be routed through Internal Requisitions. However, in my case, user does not want to create an Internal Requisition.

Also: if approvals for Transfer Order cannot be configured, what is the purpose of "TransferOrderApprovalTask" in BPM?

Version (include the version you are using, if applicable):

26A (11.13.26.01.0)