What this means, is that in order to configure Docker as non-root, you would have to access the Linux VM running on your Mac and follow the guide that is within the documentation. This can’t be exactly replicated on Docker Desktop for Mac, and the reason for that is because Docker Desktop is not exactly Docker for Mac, it’s a suite that consists of a Linux VM running Docker, a configuration on the Mac for the Docker client which points to the VM (which is why you can use the Mac terminal to communicate with Docker), and a file sharing component to mount directories on your Mac on to the Linux VM, and then attach volumes from the mounted paths on the Linux VM in to Docker containers.
I’ve never used Margin, however, This looks to me like it’s a guide quite heavily oriented around a Linux host system directly.