It isn't very complicated. You just have to choose if you want to buy or sell, your payment method and the trade amount. In the advanced settings you could set a trade range or a higher percentage for the collateral.
I'm pretty sure btc sessions has a tutorial for robosats
But what about the escrow thing? From what I heard, most DEXes use that and I have no idea how the technicalities work for the person making the offer.
What's with the escrow? You have to lock it before you can publish your order. Therefore a LN invoice QR code will be presented, pay it with a compatible wallet and you're good.
You can look up here for more information
