Maybe Shift+Encoder 8 (value edit) could be used to toggle legato for that step?
Or another option to implement this (idea by @Royce): a velocity of 1 will make the note play as legato (previous note off comes after the note on) and the same velocity of the previous note.
Or another option to implement this (idea by @Royce): a velocity of 1 will make the note play as legato (previous note off comes after the note on) and the same velocity of the previous note.