TypeAdapterConfig<Poco, Dto>
    .NewConfig()
    .TwoWays()
    .Map(dto => dto.Code, poco => poco.Id); //<-- this setting will apply dto.Code = poco.Id & poco.Id = dto.Code for reverse mapping

TypeAdapterConfig<Poco, Dto>
    .NewConfig()
    .Map(dto => dto.Foo, poco => poco.Bar)  //<-- this map only apply to Poco->Dto
    .TwoWays()
    .Map(dto => dto.Foz, poco => poco.Baz); //<-- this map will apply both side

class Staff {
    public string Name { get; set; }
    public Staff Supervisor { get; set; }
    ...
}
struct StaffDto {
    public string SupervisorName { get; set; }
}

TypeAdapterConfig<StaffDto, Staff>.NewConfig()
    .Unflattening(true);

TypeAdapterConfig<Staff, StaffDto>
    .NewConfig()
    .TwoWays(); //<-- this will also map poco.Supervisor.Name = dto.SupervisorName for reverse mapping