But I think the most important differentiation is whether you have streams or messages.
That said, the ability to roll back to a previous "state" of an event queue is pretty nice in Kafka. But if you don't want to scale ad infinitum a more common message broker might be more fitting for consuming events. I only used Kafka in an experiment, I have no in depth knowledge.
Having an event log — the ability to "roll back" — is a crucial feature of event sourcing, so I think you misunderstood the terminology a bit.
However, I do believe it's not your fault: entire DDD terminology is trying to slap big names on already existing concepts in the interest of better/easier communication (there was "journalling" at some point, and RDBMS DBAs used to achieve similar effects with trigger-based history tables), but in my opinion, it has largely failed: people constantly confuse what each of the terms actually is, and digging yourself out of misapplied terminology is even worse.