I wouldn't use the baking tools in Mudbox or Zbrush, get a dedicated baker like xNormal, Knald, Marmoset Toolbag, etc. The best results section of this tutorial covers floaters: https://www.marmoset.co/posts/toolbag-baking-tutorial/
And i cannot find any resource online either. Snif. I have mudbox and zbrush in my disposal for the time being. I only know about subdivision baking so when i add anything extra i dont know how this can be added to the main object's normal/diffuse map!