The legacy kernel seems to have support for task_malloc() and task_free(), which is built upon the memory pool infrastructure. However, this isn't officially supported.
Need to decide if this capability is going to be part of the unified kernel. If so, it should be properly coded, tested, and documented. If not, the existing task_malloc() and task_free() code should be ripped out.
[This is currently implemented in unified kernel memory pools as k_malloc/k_free]