Okay. I'll reply to myself: it was super easy:
https://japtaincack.blogspot.com/2018/02/pfsense-dhcp-dynamic-dns-updates-to.html
But I think I found a bug in pfSense, because I configured this for the DHCP on only ONE specific interface, but now it registers ALL clients from all LAN subnets in the remote DNS. Do somebody know how to prevent this?
I also don't know why it creates a TXT record for every client, would also be nice not to have this.