Customize logout in Spring Boot Embedded WebApp

Since we use OAuth2/SSO instead of Camunda Basic Auth out of box, we need to customize logout. Spring Security will catch the Post request to the default camunda logout endpoint when clicking the logout button in WebApp and then take care of spring session clean up. After that we need to redirect to Identify provider (We use UAA) logout endpoint. Once it get success, then redirect to logout success HTML page.

The problem is UAA does not accept the redirected Post request. For Spring Boot Embedded WebApp, how to customize the logout action?