First, install pc and rootless docker with:

curl -fsSL https://get.docker.com/rootless | FORCE_ROOTLESS_INSTALL=1 sh

then:

docker run -e DEBUG_NO_EXIT=1 --rm -ti --cgroupns=host -v /sys/fs/cgroup:/sys/fs/cgroup:rw --name freeipa-server-container -h ipa.domain.tld -e PASSWORD=Secret123  --sysctl net.ipv6.conf.all.disable_ipv6=0 freeipa/freeipa-server:almalinux-8 -U -r EXAMPLE.TEST --skip-mem-check

Definitivly working with cgoups v2:

docker run -e DEBUG_NO_EXIT=1 --rm -ti --cgroupns=host -v /sys/fs/cgroup:/sys/fs/cgroup:rw --name freeipa-server-container -h ipa.domain.tld -e PASSWORD=Secret123  --sysctl net.ipv6.conf.all.disable_ipv6=0 freeipa/freeipa-server:almalinux-8 -U -r EXAMPLE.TEST --no-ntp --skip-mem-check