It was much easier than I thought.
1) First of all, the Azure Storage Emulator must be re-configured as written here: erconsult.eu/.../
2) We must connect to D365FO Onebox via an Office 365 account. I have a cheap Business Essentials one. The Azure tenant ID can be retrieved: docs.microsoft.com/.../find-your-office-365-tenant-id
3) Install the Document routing agent on the local server, specify URL = usnconeboxax1aos.cloud.onebox.dynamics.com and the Azure tenant ID. The local DNS server will re-direct the DRA requests accordingly.
4) Logon, configure the local server printers in DRA
5) Activate them on the D365FO network printer screen.
6) Make a simple ZPL Document routing layout like the one below and connect it with the WHS work order type.
7) Make a mobile RAF, activate Print label and see the labels streaming from the label printer
Eugen, you are great!
<xpml><page quantity='0' pitch='50.0 mm'></xpml>^XA
^SZ2^JMA
^MCY^PMN
^PW816
~JSN
^JZY
^LH0,0^LRN
^XZ
<xpml></page></xpml><xpml><page quantity='1' pitch='50.0 mm'></xpml>^XA
^FT230,90
^CI0
^A0N,34,46^FDLicense plate ID^FS
^FO259,150
^BY3^BCN,102,N,N^FD>;$LicensePlateId$^FS
^FT289,282
^A0N,34,46^FD$LicensePlateId$^FS
^PQ1,0,1,Y
^XZ
<xpml></page></xpml><xpml><end/></xpml>