> So Amavis is setup as an smtpd_milter as well?

No, Amavis is setup as a content_filter (content_filter = 
amavis:[127.0.0.1]:10021)

> Do you see DKIM-related Authentication-Results headers in incoming mails?

Yes, please see below at an example e-mail from gmail:

Authentication-Results: smtp.domain.tld (amavisd-new);
        dkim=pass (2048-bit key) header.d=gmail.com

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