The Autonomous DB doc has a chapter for this: Connect with Python, Node.js, and other Scripting Languages
Really the only extra step needed is putting the wallet files in the correct location, and perhaps (depending where you install it) editing one path in sqlnet.ora.
There may be some tips in https://static.rainfocus.com/oracle/oow19/sess/1553560683840001mfXq/PF/DEV4626-Developing-and-Deploying-Python-and-Node.js-Applications-in-Docker_1568845042122001Vsfl.pdf that could be useful.
The next (4.1) release of node-oracledb will also have a section on Autonomous DB in the node-oracledb documentation.
Personally I would just install node-oracledb from npm via normal package.json dependencies, and not use the node-oracledb RPM. With the latter, you need to make sure NODE_PATH is set, and you don't get a choice of which version of Instant Client to use.