Well, after some deepening into it, I solved it using:
x %>% rvest:::request_POST(url, config(referer = x$url), user_agent("Mozilla/5.0 (Macintosh; Intel Mac OS X 10_11_4) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/50.0.2661.86 Safari/537.36"), body = list(...), encode = "form")
Where rvest:::request_POST internally uses
httr::POST(url, x$config, ..., handle = x$handle)
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