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I'm using https://github.com/adshao/go-binance for my current Binance bot. You can see how to make signed request in the library code, i.e, https://github.com/adshao/go-binance/blob/master/v2/client.go#L218
I used to use the standard http lib, but now I switched to resty https://github.com/go-resty/resty
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.