In general, stick a piece on an outpost if it seems beneficial (i.e. square control, line blocking, etc.). Usually knights are best, but sometimes bishops, rooks, and in extremely rare cases even queens can benefit from one.
In your case a rook on d5 would be better than a queen since it would not be able to be threatened by the black queen. That being said, it wouldn't be accomplishing much there anyway.
EDIT: See my next post for the knight.
I got d5 in this game but I wasn't sure how to continue.