How do I make my website open in both Tor and regular DNS with Brave?

I know how to separately make both a regular DNS website and a Tor Hidden Service website. But how do I as a developer tell Brave Browser that my website has a version running as a Tor Hidden Service?

Background: NYT, ProtonMail, and others are able to simultaneously open both their normal sites and their Tor sites simply by the [Brave] user typing the appropriate DNS domain into the address bar. How do I make my own website do the same thing?

Do these Hidden Services simply live on the same servers as their clearnet counterparts, or is there separate infrastructure to isolate risk? If separate, how would the two versions sync?