As soon as DNS verification passes, Vercel provisions an SSL certificate for the domain. Your form becomes available at https://your-domain.com within a few minutes of the Verified badge appearing. There are no controls for SSL in the UI because there is nothing for you to do.
Certificates renew automatically before they expire. You will never receive an expiry warning or need to take manual action.
A browser certificate warning after a domain was previously working usually means the DNS record was removed or changed so the domain is no longer pointing correctly. Re-add the A record at your registrar and click Refresh in Connect → Deploy. Once verification passes again, SSL resumes.