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Hi. Since topic is the first result in google, here is my minimalistic step-by-step guide.
Done and tested on 25.7.4.

1. install os-rspamd

2. create folder for dkim key
mkdir usr/local/etc/rspamd/dkim

3. create key
rspamadm dkim_keygen -b 2048 -s email -d yourdomain.com -k /usr/local/etc/rspamd/dkim/email.key /usr/local/etc/rspamd/dkim/email.txt

4. edit owner and acl
chown rspamd /usr/local/etc/rspamd/dkim/email.key
chown 640 /usr/local/etc/rspamd/dkim/email.key

5. disable clamav module
nano /usr/local/etc/rspamd/override.d/antivirus.conf
enabled = false;

6. enable dkim
nano /usr/local/etc/rspamd/override.d/dkim_signing.conf
enabled = true;
sign_local = true; #send from known hosts and networks
sign_inbound = false;
auth_only = false; #send only from authenticated users
use_domain = "header";
allow_hdrfrom_mismatch = false;
allow_username_mismatch = false;

domain {
  yourdomain.com {
    selector = "email";
    path = "/usr/local/etc/rspamd/dkim/email.key";
  }
}

7. test syntax
rspamadm configtest

8. enable plugin and enable antispam in postfix

9. restart both

10. add dns record from /usr/local/etc/rspamd/dkim/email.txt

11. send email and check its properties

?????

DKIM=Pass