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I have no experience with dunst, but generally you want a global service-level dropin file in /etc/systemd/system/service.d/ with OnFailure= setting in it. This way it gets added to all services running on your system. (Except to user units, you'll need to do this separately for those.)
Then it's just a matter of writing a failure notification (template) unit that interfaces with dunst. Mine evokes a small Haskell program which sends a desktop notification with libnotify.
You'll want to see this ArchWiki section about this. There's an important catch about stopping infinite recursion in the fabulous case where your notification unit itself fails.

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