This library gives you a clean example of how to use deployer with Pimcore 5.*.
It provides you with additional tasks needed to successfully deploy Pimcore application into different environments.
composer require w-vision/pimcore-deployer
Installation installs deployer as well.
Now copy following files into your root-folder:
vendor/w-vision/pimcore-deployer/deploy.sample.php -> deploy.php
Edit .deploy.php to suit your configuration.
There is a sample deployer configuration file, which shows you how to configure deployer for Pimcore.