Help adding subdomain

If I add a subdomain to a previously added domain, is it necessary to add another DNS?

No, Create under DNS domain mipanel.com a record with the name panel and point it to your server ip.

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In this way ?

One more question? if i set as host for hestiacp panel:
server.midomain.com, should I add the main domain on the webs? midomain.com and add the A record that points to the ip?

If the domain midomain.com would be hosted on that server, yes you would need an A record in the Authoritative DNS server to point to that server IP.