Preview and exported images look different because the demosaicking and interpolation algorithms used are different. Even when viewing the exported image at reduced magnification, the down-sampling algorithms are likely different (nearest neighbor vs bicubic vs cubic vs lanczos). Bicubic and cubic will tend to look softer.
Consider adding a final sharpening step after any additional post processing you plan to do. If you intend no further processing, you can add additional sharpening from within darktable.