Is there any configuration required to enable POSASSY/Positioning Assembly publishing in worker

No worker-side configuration is required.
The only thing required is to publish the object as a Positioning Assembly, either by selecting New Representation in the UI or programmatically using the following API
PublisherAction publisherAction = new PublisherAction();
publisherAction.addAction(PublisherAction.POSASSY, true);
Once the publish request is submitted as a Positioning Assembly, the OOTB publishing process will handle the rest.
The following Help Center topic explains which objects can be configured to publish as Positioning Assemblies using Windchill properties.