I've seen some guides on how to use the inline certificate (<ca></ca>, etc.) options in client configurations, but I can't find any official documentation showing those. Have I overlooked it somewhere in the man page?
It's documented in the 2.3.2 manpage (and probably earlier versions) under the heading
INLINE FILE SUPPORT; you can optionally view a direct link
here at the wiki-maintained manpage for 2.3.
Also has anyone used the inline certificate configuration for a server?
This feature works with any config, server or not. Note that server's generally use unencrypted private keys (otherwise initial program launch would require a decryption passphrase) and this can have security implications based on who can access the config file contents.