Tested in image: confluentinc/cp-kafka:8.1.0

healthcheck:
  test: /bin/kafka-topics --bootstrap-server localhost:9092 --list | grep -E '<your topic 1>| <your topic 2> | etc.' &> /dev/null
  start_period: 60s
  interval: 20s
  timeout: 5s
  retries: 5