  We present a generalization of teleparallel gravity that is consistent with
local spacetime kinematics regulated by the de Sitter group $SO(1,4)$. The
mathematical structure of teleparallel gravity is shown to be given by a
nonlinear Riemann-Cartan geometry without curvature, which inspires us to build
the generalization on top of a de Sitter-Cartan geometry with a cosmological
function. The cosmological function is given its own dynamics and naturally
emerges nonminimally coupled to the gravitational field in a manner akin to
teleparallel dark energy models or scalar-tensor theories in general
relativity. New in the theory here presented, the cosmological function gives
rise to a kinematic contribution in the deviation equation for the world lines
of adjacent free-falling particles. While having its own dynamics, dark energy
manifests itself in the local kinematics of spacetime.
