You can reference this template https://github.com/OfficeDev/teams-toolkit/tree/dev/templates/ts/default-bot/infra which uses app service to host the bot. To enable the connection between azure bot service and app service, the managed identity is added to the app service, see line.

For AKS you might also need to add the managed identity to your AKS, this doc https://learn.microsoft.com/en-us/azure/aks/use-managed-identity#enable-a-user-assigned-managed-identity might be helful.