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it's a one liner to add the worker node. See: https://ubuntu.com/tutorials/how-to-kubernetes-cluster-on-raspberry-pi#5-master-node-and-leaf-nodes
Stand-alone k3s, https://k3s.io
Another good option is Microshift: https://github.com/openshift/microshift
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.