I've tried many times to setup PowerDNS and never complete it because I get bogged down in the complexity. I saw they had an ansible / terraform script for deployments. Do you just use the team's docs or something else?

Yeah just the PDNS docs. They're excellent. I'll admit my personal setup isn't particularly complex, but I'm not sure how much more complex it can get. I've just got an authoritative server for `lan.` and two secondaries, all 3 using sqlite as their database.

I just added their debian repo and apt install'd the two packages (dnsdist and pdns-server). Set the respective config files appropriately (dnsdist is a little hard, but googling got me there) and bam. I've got dnsdist serving DoH, DoT, and plain port53 DNS with some ACLs, was really easy IMO.