Azure Service Bus Queue Groups

I would like to get the same functionality as I believe queue groups in Nats provides, but I have to use Azure (Service Bus?) My first question is: is this possible? If so, any pointers greatly received.

By way of an example, I essentially want my app, that has four load balanced servers, to publish to a "topic" (each server publishes its own messages, but not duplicate messages) and then two separate apps (e.g. event processing / audit logging) to retrieve those messages, but only on one of the servers in each of the subscribing queue groups if that makes sense?

Many thanks for any information provided.

Thanks for the inputs @Sean Feldman and I do that you can use Azure Service Bus Topics where we can create multiple subscriptions, in that each subscription can behave as the queue.

and now you can send messages to different subscriptions.

So, for each subscription queue we can send messages separately.