spatial network plot using ggplot

I would like to reproduce plot of spatial dependency of regions in ggplot2 rather then using basic plot in R

I provided reproduceble example in code below:

I followed example: Plotting neighborhoods network to a ggplot maps

library(leaflet)
library(ggplot2)
library(sf)
library(spdep)

URL <- "https://biogeo.ucdavis.edu/data/gadm3.6/Rsp/gadm36_CZE_1_sp.rds"
data <- readRDS(url(URL))

ggplot() + 
  geom_polygon(data = data, aes(x=long, y = lat, group = group), color = "black", fill = F)

cns <- knearneigh(coordinates(data), k = 3, longlat=T)
scnsn <- knn2nb(cns, row.names = NULL, sym = T)
cns
scnsn
cS <- nb2listw(scnsn)
summary(cS)

# Plot of regions and k-nn neighthorhours matrix

plot(data)
plot(cS, coordinates(data), add = T)

I am asking how to reproduce Plot of regions and k-nn neighthorhours matrix using ggplot.

I know we have to retrive each point input and then use geom_segment, however I dont know how to retrive it from cS object.