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If you want depth you have to essentially add a separate depth/height map, often in the form of a gray scale bump map. In some games that is stored in the alpha channel of a normal map, but that isn't a given in most cases, as not all games support adjusting material depth, and each can have a different map load out for channel packing. You would also generally need to specify a mid point value, which is to say any pixel darker than this value is treated as going into the face and any pixel that is lighter than that value is coming out from the face, and again you would also have a material wide strength value for the overall effect. It is often referred to as parallax occlusion mapping, if you wanted to dig into the technique more.
It is likely well beyond the scope of what most users would ever need, and probably not really worth investing into. Even normal mapping is generally a step too far with pixel art stuff most of the time, but at least some folks have put it to compelling use at times, so that much should be ok and likely something that is already well supported in the libraries being used behind the scenes for this software.