Payment – Authenticate in M2 and Capture in ERP

Hi!I am entrusted with integrating our new magento store with ERP. Being a non-tech person but only person who is even remotely close to understanding tech in-house I am looking into solutions/workarounds.

Most of our products are backordered, so when an order is placed I was wondering if there is a way to authenticate payment in Magento and capture in the ERP (MS Navision) upon order shipment (after 4-5 days)?

This is because ERP is managed by 3PL who also handle support. Management thinks this setup is good way forward.