Question How to have perfect pixel-art with specular and bump lighting in universal rendering pipeline?

I'm making a 2d pixel art game. Back when I used the built-in renderer, I could make a normal map from a greyscale sprite (closer pixels will be brighter, further pixels will be darker) then assign it to a "Legacy Shaders/Transparent/Bumped Specular" shader to create a material. Now, I've upgraded to Unity 2020 and Universal Render Pipeline, I want to know how to achieve the same thing. I tried to use the "URP/2d/sprite-lit-default" and assign the normal map to it but it didn't work well.