Recompress 7z archives to tar.zst on the fly

I have a bunch of [7z](https://en.wikipedia.org/wiki/7z) archives (containing directories and files) that I would like to recompress as [tar.zst](https://facebook.github.io/zstd/) (which offers much better decompression speeds if / when I need to unarchive them). I could manually decompress them, then recompress with tar -cvf --zstd foo.tar.zst foo/ but that means having the fully decompressed files on disk which isn't great from a disk utilization PoV. Is it possible to "stream" the files (using | somehow) from 7z to tar, to recompress those files without having the decompressed files on disk? If so would a similar solution apply to rar / zip / other archive types?