Mink is a good option because of the api it offers and the power it has allowing to interact with several drivers (goutte, gecko/firefox...).
If the css generated is not modified by javascript, mink+goutte may be the best option, but if the css is modified somehow by javascript a mink+selenium configuration may be the best (or mink+zombie). Have in mind that this second approach is harder to setup and slower than the "goutte" one.
The way you access the dom is different than jQuery, but the selectors are about the same, in fact mink offers you 4 types of selectors.
You can do almost everything with "xpath" selector. I also recommend considering "css" + NodeElement methods, because it's simpler and helps in most of cases.
Here you are one example based on wikipedia with 2 approaches:
Imagine you go to wikiperia.org and you want to keep the English entry link:
$xPath = '//a[@id="js-link-box-en"]/@href';
$nodeElement = $this->getSession()->getPage()->find('xpath', $xPath);
$theHrefValue = $nodeElement->getText();
Alternativelly:
$nodeElement = $this->getSession()->getPage()->find('css', '#js-link-box-en')
$theHrefValue = $nodeElement->getAttribute('href');
I hope it will help you when making a decision :)