As a practical necessity when event sourcing, you need the ability to conjure up a stream of events for a particular entity so that you can apply your event handler to build up the state. For Kafka, outside of the case where you have so few entities that you can assign an entire topic partition to just the events for a single entity, this entails a linear scan and filter through a partition. So for this reason, while Kafka is very likely to be a critical part of any event-driven/event-based system in relaying events published by a service for consumption by other services (at which point, if we consider the event vs. command dichotomy, we're talking about commands from the perspective of the consuming service), it's not well suited to the role of an event store, which are defined by their ability to quickly give you an ordered stream of the events for a particular entity.
The most popular purpose-built event store is, probably, the imaginatively named Event Store (at least partly due to the involvement of a few prominent advocates of event sourcing in its design and implementation). Alternatively, there are libraries/frameworks like Akka Persistence (JVM with a .Net port) which use existing DBs (e.g. relational SQL DBs, Cassandra, Mongo, Azure Cosmos, etc.) in a way which facilitates their use as an event store.
Event sourcing also as a practical necessity tends to lead to CQRS (they go together very well: event sourcing is arguably the simplest possible persistence model capable of being a write model, while its nearly useless as a read model). The typical pattern seen is that the command processing component of the system enforces constraints like "product exists before being added to the cart" (how those constraints are enforced is generally a question of whatever concurrency model is in use: the actor model has a high level of mechanical sympathy with this approach, but other models are possible) before writing events to the event store and then the events read back from the event store can be assumed to have been valid as of the time they were written (it's possible to later decide a compensating event needs to be recorded). The events from within the event store can be projected to a Kafka topic for communication to another service (the command processing component is the single source of truth for events).
From the perspective of that other service, as noted, the projected events in the topic are commands (the implicit command for an event is "update your model to account for this event"). Semantically, their provenance as events means that they've been validated and are undeniable (they can be ignored, however). If there's some model validation that needs to occur, that generally entails either a conscious decision to ignore that command or to wait until another command is received which allows that command to be accepted.