Using minikube will be a complete waste of time for this IMHO. I am working on doing the same thing and minikube really doesn't work outside of the narrow happy path of kubernetes-on-a-vm. You can probably do multi-node but only on one host.

Best to just bite the bullet and install kubernetes itself I think. Currently I'm at the point of figuring out how to customize a Fedora CoreOS image to boot from PXE or USB and auto-install itself on bare metal with kubernetes already installed in the image.

The current environment for that is a Fedora Server install on one of those old PCs with enough environment manually bootstrapped to have the tools to customize Fedora CoreOS in a VM.