Is it possible to configure minions to upload segments directly to the segment store like you can for servers as described here https://docs.pinot.apache.org/operators/operating-pinot/decoupling-controller-from-the-data-path ? We are seeing timeouts when our minions try to upload segments to the controller during the realtime to offline job

You can use segmentMetadataPush type: https://docs.pinot.apache.org/basics/data-import/batch-ingestion#ingestion-jobs

this is available for RealtimeToOffline job as well?

Unfortunately, not yet