A very simple method would be to disable password logins and use key-based logins only.
That way you have the key named in `auth.log` and may simply match it to a user (e.g add the user name in the "comment" field of the `authorized_keys` file). With the login, you get a process ID that is also shown the at logout event.
$cat /var/log/auth.log
Jun 21 14:42:11 DEV sshd[26510]: Accepted publickey for apple from 1234:5678:90ab:cdef:1234:5678:90ab:cdef port 58888 ssh2: RSA SHA256:abcdefghIJKLMNOPQ/1234567890
Jun 21 14:47:57 DEV sshd[26510]: pam_unix(sshd:session): session closed for user apple
$cat /home/fruit/.ssh/authorized_keys
ssh-rsa abcdefghIJKLMNOPQ/1234567890 apple@bastion
The rest of the monitoring is then a matter of setting up `audit`.