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Can look at `drill grapheneos.org SSHFP` for an example. If you connect with `ssh -o VerifyHostKeyDNS=Ask grapheneos.org`, you'll see it says "Matching host key fingerprint found in DNS." and it has a loud warning if there's a mismatch. Nice way to use DNSSEC.
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I disable everything but ed25519 for simplicity. Should add a record for each enabled key type. The default algorithm order prefers ecdsa so that's what clients will have pinned in their known_hosts. Probably best to leave it enabled if it was already being used by other people.