I think Dennis is right, the moment something appears in that "list of future transactions" on Rabobank, is the moment that on bunq you would receive the request. On bunq you then have 5 days to accept it at a time of your choosing, Rabobank just auto-accepts it on the date you see in that list.
(I guess Koen thought you probably didn't mean this since it already exists in this way, and thought you were talking about payments coming *into* your account, but apparently you did not mean that... ๐)