There are many posts on the Internet illustrating HOW-TO configure sticky sessions when using an NGINX Ingress Controller;
This post elaborates a little on that subject and adds WildFly to the mix;
You will configure the NGINX Ingress Controller on Kubernetes (Minikube actually), then you will build a WildFly application image for Kubernetes and, finally, you will deploy your application asking NGINX to use the sticky sessions feature;
Find detailed instructions here: https://github.com/tommaso-borgato/wildfly-kubernetes-example