The functionality to do this easily without code is coming.
_From the What else is coming up? section of https://forum.openzeppelin.com/t/running-a-keeper-from-keep3r-network-on-defender/4396_
- Being able to send Relayer transactions from the Defender site, so you can bond the Relay with the collateral you want and easily transfer your KPR rewards out of the Relay to your wallet without having to write code for it.
You should also be able to write code to do the transfer.