AWS doc given here mentions that we can configure this notification to be sent to SNS topic but I am not able to find steps or tutorial to configure aws config to send this notification.
What I have already tried:
Cloudwatch alarm to SNS - does not support AWS config.
Eventbridge rules - not sure if this is the correct approach to get the notifications from config.
That link are the example notifications that are sent to the SNS component of your AWS Config Delivery channel. To setup your delivery channel including the S3 Bucket and SNS Topic that AWS Config will use to send configuration status to, follow the guide below:
https://docs.aws.amazon.com/config/latest/developerguide/manage-delivery-channel.html
This periodically delivers the status of every AWS Config Rule.
Note: You can only have one delivery channel per region per account. You can't create multiple channels so if you update this you'll be updating it for everything in your region.
If you want to just be notified when a specific AWS Config rules or set of rules are non-compliant, you can setup an Event Bridge rule to send a message to an SNS topic when that event is found.