As jesse said.
Simplest way is to change mapping for void to either only show or only work for specific roles rather than admin confirmation. Making the manager/admin logout and log in their own user to void.
It is possible to achieve like what you say but it is not simple. I have recently done this on my setup but like i say its not simple.
You would need to recreate the admin pin prompt and use a script to check the pin in database and if that user has can confirm admin pin option set. Then save the returned username as something like an order state which then allows you to report the actual user who ‘auth’ the void.
Again, its not a quick simple setup.
I documnted part of it here;
however its not a complete solution just the inital custom admin pin part.