I just followed the docs for those individual programs.......I didn't really find a comprehensive setup guide. I linked the wiki below i think there are some guides there. My personal setup has radarr, sonarr, prowlarr, lidarr and readarr (I don't really use the last two all that often if at all. They are a bit janky)

Servarr Wiki

Servarr

Official wiki for Lidarr, Radarr, Readarr, Sonarr, and Whisparr