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The sensitivity of ALMA makes it possible to detect thermal mm/submm emissionfrom small/distant Solar System bodies at the sub-mJy level. Measured fluxesare primarily sensitive to the objects' diameters, but deriving precise sizesis somewhat hampered by the uncertain effective emissivity at thesewavelengths. Following Brown and Butler (2017) who presented ALMA data for fourbinary TNOs, we report ALMA 1.29 mm measurements of four Centaurs (2002GZ$_{32}$, Bienor, Chiron, Chariklo) and two TNOs (Huya and Makemake), samplinga range of size, albedo and composition. These thermal fluxes are combined withmid/far-infrared fluxes to derive the relative emissivity at radio (mm/submm)wavelengths, using NEATM and thermophysical models. We reassess earlier thermalmeasurements of these and other objects -- including Pluto/Charon and Varuna --exploring effects due to non-spherical shape and varying apparent poleorientation, and show that those can be key for reconciling previous diameterdeterminations and correctly estimating the spectral emissivities. We alsoevaluate the possible contribution to thermal fluxes of established (Chariklo)or claimed (Chiron) ring systems. As a general conclusion, all the objects,except Makemake, have radio emissivities significantly lower than unity.Although the emissivity values show diversity, we do not find any significanttrend with physical parameters such as diameter, composition, beaming factor,albedo, or color, but we suggest that the emissivity could be correlated withgrain size. The mean relative radio emissivity is found to be 0.70$\pm$0.13, avalue that we recommend for the analysis of further mm/submm data.

The thermal emission of Centaurs and Trans-Neptunian objects at millimeter wavelengths from ALMA observations