How do I set this up in Symfony?
TLDR:
composer create-project
Long answer:
Symfony historically (S1) is a classic MVC framework strongly in relation to ZF1 which came two weeks earlier.
Since S2 it bought more into a class-path based framework of components building upon it's own base library that are more easily compose-able with its own and other class- and object trees, so either your own or those of other third-party libraries, for example Doctrine.
While making that design decision, it strongly influenced the design and implementation of the Composer utility.
What you describe as plug'n'play-ish commonly maps onto class- and object- tree based libraries that can be used with dependency injection to rely on plugin-in interfaces instead of more concrete implementations.
Symfony provides the infrastructure for that within its framework ("Services").
Henceforth, you can not only answer that question by studying the history of the Symfony framework and its utilities, but also their documentation for the answer of your question and by making active use of the Composer utility.
Rest assured, that for roughly 90% of your questions, a documented answer exists, most likely with code examples and other kind of instructions. And that for 90% of the functionality you need, implementations already exist.
The last 10%, which will consume 90% of the time you still need to spend on your project, we have to always do it with love, pain and hard work.
Symfony homepage: https://symfony.com/
Symfony services: https://symfony.com/doc/current/service_container.html
Symfony kernel configuration: https://symfony.com/doc/current/reference/configuration/kernel.html