According to draft-ietf-dkim-ssp-01.txt section 4.4, if there's a DNS return other than NOERROR to TXT lookup of _ssp._domainkey.domain,
one "MUST" do an MX lookup on 'domain' to see if it 'exists'. The dkim-milter code actually does a 2nd TXT lookup, instead. There _is_ a comment that says any resource record could be used, but that they picked MX. That with the fact that the word "MUST" is used above, I think dkim-milter should probably really do an MX lookup, even though the current code will function properly.
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Will verify this with the author and then figure out what action is necessary, if any.
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Though that point means my code will work, the fact that it's labeled "non-normative discussion" means I'm out-of-spec by doing TXT instead of MX there so I'll have to update it.
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Fixed for v2.4.0. Betas will start later today.
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v2.4.0 released, containing a fix for this.