Unity URP; how to properly set up order of rendering

Everything are 3D meshes
I want to make it so player is rendered on top of everything but the lava plane gameObject on my scene; Making character being on top of everything was simple enough by using URP Universal Renderer Data Render Objects feature, not sure it’s the proper way to do it tho; But now I have no idea how to make it so character properly sink in the lava pool. I feel like making custom shaders is a real proper way achieving that, but I am completely clueless at the topic of shaders. Any entry level guides?

PS Also new forum making me a bit confused, is this a right place and way to ask such question?