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To download the module with composer use the following command:

composer require drupal/camunda

Note: if you want to use non-stable releases (e.g. RC, beta or dev), then you should configure your root project to allow that by configuring the minimum acceptable stability with e.g. composer config minimum-stability beta for accepting beta releases. Without this, composer may run into dependency issues.

Enable the module(s) in the admin ui of your site (/admin/modules) or with drush:

drush en camunda