You look at their voting record and public statements, and vote for the one that is most likely to support legislation and policies that align with your values. That's what I mean by "voting for."
I'm not saying this is something we'll have direct input into every time, like the Ohio abortion one that just happened, and I'm not saying it will happen even in this next year; we are going to have to vote for candidates who are least objectionable. It's going to take many cycles of voting locally and federally to correct this ship that is listing hard to the right.
ETA: Besides Manchin and Sinema, who are going independent anyway, which examples of Dems are Republicans with a D in front of their name?