Think this way: if the same message your application receives from a Kafka Queue should also be received with a RESTful endpoint, would it be any difference between the consumer and the RESTful endpoint from the PoV of their place in the architectural layers? no, it wouldn't, they'd part of the same layer because they do the same: they accept an external message, despite the fact that the communication channel & type is (very) different.
According to The Onion Architecture : part 2:
SpeakerController is part of the user interface
and I'd say that the same (i.e. user interface) is for the RESTful endpoint and the Kafka Queue consumer. Both of them would contain no business logic at all but they'll delegate to an Application Service. If the message types are not exactly the same, there might be message-integrity-validation & conversion-to-DTO particular to each other before delegating to the target Application Service.
The ideea is that one could add more communication channels (e.g. command line, web sockets, etc) but as long as the use cases don't change than the entire Application Core remains unchanged because it doesn't depend on the User Interface but the opposite.