This is my voxel character:
After some experimenting, I found a way to use Rigify with voxel characters: After watching some CG Dive videos, I figured out that you can use samples from Object Data Properties in the Armature. The arms, fingers, legs, and rear paws work well with voxel chars. For the spine, however, you have to use a chain of super copies. Otherwise, the actual spine sample will deform your character’s spine. The same goes for the head and neck too.