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I strongly recommend trying to use cross https://github.com/cross-rs/cross it should work fine for you use case, it not only takes care about compiler/linker but also external libs you might link against. If a lib is missing you can make you own dockerfile and install it in the target sysroot you are compiling then against.
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I was trying to set up a cross-build system for aarch64 too. However I found it too bothersome, so I stick to Docker. Here is the example of my Dockerfile for building for aarch64 https://github.com/mmaslyukov/intive-ua-bot/blob/main/Dockerfile. There you can specify all necessary dependencies. Here are brief commands on how to build a Docker image and run a compilation https://github.com/mmaslyukov/intive-ua-bot/blob/main/README.md
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