How to Detect Stack Overflow in FreeRTOS

Hi all,
I’m working on ESP32 with the Arduino IDE, and I have a question regarding FreeRTOS. I believe each task in FreeRTOS has its own stack, and all task-local variables are stored in that stack region.

So how do you detect stack overflow ? Is there a way to monitor or get warnings if a task is running out of stack space?

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