Following the Minimap2 cookbook:
minimap2 -cx asm10 --cs "$ref_fasta" "$asm_fasta" \
| sort -k6,6 -k8,8n \
| paftools.js call -L 1000 -f "$ref_fasta" - > "$out_vcf"
Breaking this down:
Align using minimap2. Include the options -c: output CIGAR -x asm10: Preset parameter for alignment between assemblies assuming <1% sequence divergence. (Could use asm5 or asm20 if your sequences are more/less similar.) --cs: output cs tag
Sort the PAF output
Redirect to paftools.js call. By default, alignments less than L=50000 are not included for variant calling. Set L to lower value if your assembly is smaller than this. Provide reference fasta sequence with -f.