How can I connect to a Tor hidden service using cURL in PHP?

You need to set option CURLOPT_PROXYTYPE to CURLPROXY_SOCKS5_HOSTNAME, which sadly wasn’t defined in old PHP versions, circa pre-5.6; if you have earlier in but you can explicitly use its value, which is equal to 7:

curl_setopt($ch, CURLOPT_PROXYTYPE, 7);

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