PhysicsServer.body_create() > how to use signals like "body_entered"?

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:bust_in_silhouette: Asked By 882039

For rigid bodies created using PhysicsServer, are there signals like “body_entered”?
I only found area_set_monitor_callback(area: RID, callback: Callable) and area_set_area_monitor_callback(area: RID, callback: Callable) (dont know the difference btw) but I found nothing for physics bodies.