Recursive Ansible filter in jinja2 template file

Question

I have a playbook like this:

- name: Testing
  hosts: localhost
  gather_facts: False
  tasks:
    - name: Set things
      set_fact:
        my_things:
          - parameters:
              dog: true
              opts:
                DO_THIS: true
                DO_THAT: "false"
              role: Samba
            action: dance
          - parameters:
              cat: true
              opts:
                DO_THIS: no
                DO_THAT: "yes"
              role: Funk
            action: dance

that I want to write in a jinja2 template that looks like this:

apiVersion: v1
kind: ConfigMap
metadata:
  name: "test"
data:
  myfile.yml: |+
    ---
    dancers:
    {% for thing in my_things %}
      - {{ thing.action }}:
      {% for key, value in thing.parameters.items() %}
        {% if value is string and not (value) %}
          {{ key }}: "{{ value }}"
        {% elif value is mapping %}
          {{ key }}:
            {{ value | to_nice_yaml | indent(12) -}}
        {% elif value | bool %}
          {{ key }}: {{ (value) }}
        {% elif not value | bool %}
          {{ key }}: {{ (value) }}
        {% else %}
          {{ key }}: {{ value | to_yaml }}
        {% endif %}
      {% endfor %}
    {% endfor %}

This is doing its thing, but it looks extremly ugly and will also break if there is a mapping inside of a mapping. Ideally, I would like to do something like this:

apiVersion: v1
kind: ConfigMap
metadata:
  name: "test"
data:
  myfile.yml: |+
    ---
    dancers:
    {% for thing in my_things %}
      - {{ thing.action }}:
      {% thing.parameters | to_yaml %}

This works for role, dog and cat but breaks for opts as it is not recursive.

Since I am deploying this configmap using the operator-sdk and a lookup filter I cannot use jinja's env to write a custom filter.

- name: 'Creating v1.ConfigMap'
  community.kubernetes.k8s:
    definition: "{{ lookup('template', 'my_template.yml.j2') }}"

Hence, my question would be: Is there any way to inline some python code or alternatively, is there something like a recursive to_yaml filter?