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Marius
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Before doing customizations, do the following.

  • Set Magento to developer mode
  • Do not edit default Magento code, instead add customizations in a separate module
  • Do not use Ui for your custom module name

Step 1: Create the JS implementation of the form UI component

In your <your_module_dir>/view/frontend/web/js/view/ directory, create a .js file implementing the form.

/*global define*/
define([
    'Magento_Ui/js/form/form'
], function(Component) {
    'use strict';
    return Component.extend({
        initialize: function () {
            this._super();
            // component initialization logic
            return this;
        },

        /**
         * Form submit handler
         *
         * This method can have any name.
         */
        onSubmit: function() {
            // trigger form validation
            this.source.set('params.invalid', false);
            this.source.trigger('customCheckoutForm.data.validate');

            // verify that form data is valid
            if (!this.source.get('params.invalid')) {
                // data is retrieved from data provider by value of the customScope property
                var formData = this.source.get('customCheckoutForm');
                // do something with form data
                console.dir(formData);
            }
        }
    });
});

Step 2: Create the HTML template

Add the knockout.js HTML template for the form component under the <your_module_dir>/view/frontend/web/template directory.

Example:

<div>
    <form id="custom-checkout-form" class="form" data-bind="attr: {'data-hasrequired': $t('* Required Fields')}">
        <fieldset class="fieldset">
            <legend data-bind="i18n: 'Custom Checkout Form'"></legend>
            <!-- ko foreach: getRegion('custom-checkout-form-fields') -->
            <!-- ko template: getTemplate() --><!-- /ko -->
            <!--/ko-->
        </fieldset>
        <button type="reset">
            <span data-bind="i18n: 'Reset'"></span>
        </button>
        <button type="button" data-bind="click: onSubmit" class="action">
            <span data-bind="i18n: 'Submit'"></span>
        </button>
    </form>
</div>

Clear files after modification

If you modify your custom .html template after it was applied on the store pages, the changes will not apply until you do the following:

Delete all files in the pub/static/frontend and var/view_preprocessed directories. Reload the pages.

Step 3: Declare the form in the checkout page layout

To add content to the Shipping Information step, create a checkout_index_index.xml layout update in the <your_module_dir>/view/frontend/layout/.

It should be similar to the following.

<?xml version="1.0"?>
<page xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="urn:magento:framework:View/Layout/etc/page_configuration.xsd">
    <body>
        <referenceBlock name="checkout.root">
            <arguments>
                <argument name="jsLayout" xsi:type="array">
                    <item name="components" xsi:type="array">
                        <item name="checkout" xsi:type="array">
                            <item name="children" xsi:type="array">
                                <item name="steps" xsi:type="array">
                                    <item name="children" xsi:type="array">
                                        <item name="shipping-step" xsi:type="array">
                                            <item name="children" xsi:type="array">
                                                <item name="shippingAddress" xsi:type="array">
                                                    <item name="children" xsi:type="array">
                                                        <item name="before-form" xsi:type="array">
                                                            <item name="children" xsi:type="array">
                                                                <!-- Your form declaration here -->
                                                            </item>
                                                        </item>
                                                    </item>
                                                </item>
                                            </item>
                                        </item>
                                    </item>
                                </item>
                            </item>
                        </item>
                    </item>
                </argument>
            </arguments>
        </referenceBlock>
    </body>
</page>

Static forms:

The following code sample shows configuration of the form that contains four fields: text input, select, checkbox, and date. This form uses checkout data provider (checkoutProvider) that is introduced in the Magento_Checkout module:

<item name="custom-checkout-form-container" xsi:type="array">
    <item name="component" xsi:type="string">%your_module_dir%/js/view/custom-checkout-form</item>
    <item name="provider" xsi:type="string">checkoutProvider</item>
    <item name="config" xsi:type="array">
        <item name="template" xsi:type="string">%your_module_dir%/custom-checkout-form</item>
    </item>
    <item name="children" xsi:type="array">
        <item name="custom-checkout-form-fieldset" xsi:type="array">
            <!-- uiComponent is used as a wrapper for form fields (its template will render all children as a list) -->
            <item name="component" xsi:type="string">uiComponent</item>
            <!-- the following display area is used in template (see below) -->
            <item name="displayArea" xsi:type="string">custom-checkout-form-fields</item>
            <item name="children" xsi:type="array">
                <item name="text_field" xsi:type="array">
                    <item name="component" xsi:type="string">Magento_Ui/js/form/element/abstract</item>
                    <item name="config" xsi:type="array">
                        <!-- customScope is used to group elements within a single form (e.g. they can be validated separately) -->
                        <item name="customScope" xsi:type="string">customCheckoutForm</item>
                        <item name="template" xsi:type="string">ui/form/field</item>
                        <item name="elementTmpl" xsi:type="string">ui/form/element/input</item>
                    </item>
                    <item name="provider" xsi:type="string">checkoutProvider</item>
                    <item name="dataScope" xsi:type="string">customCheckoutForm.text_field</item>
                    <item name="label" xsi:type="string">Text Field</item>
                    <item name="sortOrder" xsi:type="string">1</item>
                    <item name="validation" xsi:type="array">
                        <item name="required-entry" xsi:type="string">true</item>
                    </item>
                </item>
                <item name="checkbox_field" xsi:type="array">
                    <item name="component" xsi:type="string">Magento_Ui/js/form/element/boolean</item>
                    <item name="config" xsi:type="array">
                        <!--customScope is used to group elements within a single form (e.g. they can be validated separately)-->
                        <item name="customScope" xsi:type="string">customCheckoutForm</item>
                        <item name="template" xsi:type="string">ui/form/field</item>
                        <item name="elementTmpl" xsi:type="string">ui/form/element/checkbox</item>
                    </item>
                    <item name="provider" xsi:type="string">checkoutProvider</item>
                    <item name="dataScope" xsi:type="string">customCheckoutForm.checkbox_field</item>
                    <item name="label" xsi:type="string">Checkbox Field</item>
                    <item name="sortOrder" xsi:type="string">3</item>
                </item>
                <item name="select_field" xsi:type="array">
                    <item name="component" xsi:type="string">Magento_Ui/js/form/element/select</item>
                    <item name="config" xsi:type="array">
                        <!--customScope is used to group elements within a single form (e.g. they can be validated separately)-->
                        <item name="customScope" xsi:type="string">customCheckoutForm</item>
                        <item name="template" xsi:type="string">ui/form/field</item>
                        <item name="elementTmpl" xsi:type="string">ui/form/element/select</item>
                    </item>
                    <item name="options" xsi:type="array">
                        <item name="0" xsi:type="array">
                            <item name="label" xsi:type="string">Please select value</item>
                            <item name="value" xsi:type="string"></item>
                        </item>
                        <item name="1" xsi:type="array">
                            <item name="label" xsi:type="string">Value 1</item>
                            <item name="value" xsi:type="string">value_1</item>
                        </item>
                        <item name="2" xsi:type="array">
                            <item name="label" xsi:type="string">Value 2</item>
                            <item name="value" xsi:type="string">value_2</item>
                        </item>
                    </item>
                    <!-- value element allows to specify default value of the form field -->
                    <item name="value" xsi:type="string">value_2</item>
                    <item name="provider" xsi:type="string">checkoutProvider</item>
                    <item name="dataScope" xsi:type="string">customCheckoutForm.select_field</item>
                    <item name="label" xsi:type="string">Select Field</item>
                    <item name="sortOrder" xsi:type="string">2</item>
                </item>
                <item name="date_field" xsi:type="array">
                    <item name="component" xsi:type="string">Magento_Ui/js/form/element/date</item>
                    <item name="config" xsi:type="array">
                        <!--customScope is used to group elements within a single form (e.g. they can be validated separately)-->
                        <item name="customScope" xsi:type="string">customCheckoutForm</item>
                        <item name="template" xsi:type="string">ui/form/field</item>
                        <item name="elementTmpl" xsi:type="string">ui/form/element/date</item>
                    </item>
                    <item name="provider" xsi:type="string">checkoutProvider</item>
                    <item name="dataScope" xsi:type="string">customCheckoutForm.date_field</item>
                    <item name="label" xsi:type="string">Date Field</item>
                    <item name="validation" xsi:type="array">
                        <item name="required-entry" xsi:type="string">true</item>
                    </item>
                </item>
            </item>
        </item>
    </item>
</item>

Hope this helps.

Note: Use the extension https://www.fmeextensions.com/custom-checkout-fields-order-attributes-extension-magento-2.html to do it effortlessly.