https://www.iana.org/assignments/http-message-signature/http-message-signature.xhtml IANA now has a registration for post-quantum signatures with ML-DSA for HTTP Message Signatures.
I wrote the specification, which lives at https://c2sp.org/httpsig-pq
I have a PHP implementation in https://github.com/fedi-e2ee/pkd-crypto which only supports ed25519 and ml-dsa-44, if anyone wants a target to test against.