A manufacturing company is building a solution to connect thousands of IoT sensors and actuators across several factories. The devices must communicate using the MQTT v5 protocol and require bidirectional messaging (cloud-to-device commands and device-to-cloud telemetry) with a publish-subscribe topic model. The architecture team wants a fully managed Azure service that natively supports MQTT broker functionality without needing to run and maintain a custom broker on VMs. Which Azure service should you recommend?