I have not worked on this question since ZF2 (2014) but at the time I wrote a module to answer your question. It is published on github at: https://github.com/dafap/DafapLayout
It will have to be adapted to Laminas (ZF3). To do this, replace the namespaces and edit the DafapLayoutServiceConfigServiceFactory by replacing the createService() methods with __invoke().
Be careful, this module is in PSR0. Be sure to specify it in your composer.json otherwise it will not work.
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