How can I wrap page numbers from the_posts_pagination in WordPress into my own div?

In WordPress, I’m using the_posts_pagination to spit out prev/next buttons and page numbers in between. I don’t like how WordPress spits out its own markup when I’d like to group certain elements into divs.

This is my current code:

PHP

<?php the_posts_pagination( array(
   'mid_size' => 2,
   'prev_text' => __( 'Previous Page', 'textdomain' ),
   'next_text' => __( 'Next Page', 'textdomain' ),
   'screen_reader_text' => ( '' )
) ); ?> 

It spits out this:

HTML

<nav class="navigation pagination" role="navigation">
        <div class="nav-links">
        <a class="prev page-numbers" href="#">Prev Page</a>
        <a class="page-numbers" href="#">1</a>
        <span class="page-numbers current">2</span>
        <a class="page-numbers" href="">3</a>
        <a class="page-numbers" href="">4</a>
        <a class="next page-numbers" href="">Next Page</a>
    </div>
</nav>

I’d like the ability to make it look like this:

<nav class="navigation pagination" role="navigation">
        <div class="nav-links">
        <a class="prev page-numbers" href="#">Prev Page</a>
        <div class="page-numbers-container">
             <a class="page-numbers" href="#">1</a>
             <span class="page-numbers current">2</span>
             <a class="page-numbers" href="">3</a>
             <a class="page-numbers" href="">4</a>
        </div>
        <a class="next page-numbers" href="">Next Page</a>
    </div>
</nav>

Even if I could wrap the next and previous links in a div that’d be great too. I don’t want to have to edit anything from the core WordPress files. Would I need to write a function?

EDIT

This is in my index.php

<?php the_posts_pagination( wp_custom_pagination(['prev_text' => __( 'Previous Page', 'textdomain' ), 'next_text' => __( 'Next Page', 'textdomain' )])); ?>

This is what I put inside the functions.php

function wp_custom_pagination($args = [], $class = 'pagination') {

            if ($GLOBALS['wp_query']->max_num_pages <= 1) return;

            $args = wp_parse_args( $args, [
                'mid_size'           => 2,
                'prev_next'          => false,
                'prev_text'          => __('Older posts', 'textdomain'),
                'next_text'          => __('Newer posts', 'textdomain'),
                'screen_reader_text' => __('Posts navigation', 'textdomain'),
            ]);

            $links     = paginate_links($args);
            $next_link = get_previous_posts_link($args['next_text']);
            $prev_link = get_next_posts_link($args['prev_text']);
            $template  = apply_filters( 'navigation_markup_template', '
            <nav class="navigation %1$s" role="navigation">
                <h2 class="screen-reader-text">%2$s</h2>
                <div class="nav-links">%3$s<div class="page-numbers-container">%4$s</div>%5$s</div>
            </nav>', $args, $class);

            echo sprintf($template, $class, $args['screen_reader_text'], $prev_link, $links, $next_link);

        }