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How to create and export UDIMS?

How to create and export UDIMS with Zbrush?

I don’t understand how to set up a model with multiple UDIMS.
I kinda can imagine that we should use perhaps polygroups, but heck… I can’t find any “practical” tutorial that shows and explains how to do this properly, step by step.

It would be great to also cover Texel Density.

Meaning, how could I calculate a consistent texel density, when dealing with multiple objects and various sizes?

I personally use for the standard cube a 1024x1024 texture map, for one side.
A good example would be… a simple cube that contains six different UV-tiles (UDIMS).

When I import the cube into Substance Painter, to check the UDIM’s, I get the following result:

I don’t know how to tell Zbrush, to unwrap each Polygroup on its own tile.

Any little help, ideas, hints, tips and tricks how to get this done would be fantastic.
Thank ya’ll for your help, appreciate it!

happy pixeling