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I’m not very familiar with this subject myself and only have some basic knowledge about it. Also, it all really depends on how your microservice infrastructure is set up and how connections are made. But, once you create your CA, you can use its public certificate to validate any certificates that are signed by it.
So all of your nodes would have the CA’s public certificate and their own cert/key pair. Whenever a connection is made from another service, you would validate the public certificate that you receive, make sure it really was signed by your CA and is therefore trusted, and then use it to encryption any traffic/communication with the said service. The same is done on the other end.
Hashicorp’s Vault is an interesting project that can also handle PKI.