I use Substance painter, but you can also use Marmoset toolbag for example, and if you want a free program xNormal is super. There are literally loads of baking and texturing apps available for this purpose. Using a 3rd party app for baking lets you keep all the detail of your hipoly and the external app will only use the hipoly as reference for baking. You can decimate your hipoly for baking but means loosing detail (if thats acceptable to you then stop reading). A fully costumed character can run anywhere between 12 mil and 20 mil points, and being on a humble laptop I dont want to convert those figures to polys by exporting them from zB and try and open them in my 3d app. Im doing a figure atm and just the blank highpoly is 8 mil points. If you want to bake details from the zB high poly onto a lowpoly version of your model you can do that in Maya bit that would mean opening the highpoly in your 3d app. You only do that if you need extra detail on the hipoly and cant get it at its highest subdivide in zbrush.

Yeah you dont need to remesh your zbrush highpoly for texture baking.

From zbrush to maya