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Could you look at using conda with building local repos? It's not elegant, but could possibly work as: * Keep a local copy of the source for the libraries you want * Create a set of enviroment.ymls to create the various environments you want (this may be useful) * Use mamba to build the packages into the environment you want. This environment can be located wherever you want on the filesystem. * This environment folder is the armhf folder for the configuration you want to point clang to?
You should be able to achieve most of this with Spack.
The cross infra is quite complicated but the setup inside Nixpkgs works, so I'd personally write a derivation for your program in Nixpkgs, make it work for pkgsCross then open a nix-shell for it for development. If what you're working on is OSS, you could even upstream your derivation for assimilation.
I have next to no experience doing that but you will probably have trouble with things that require GPU drivers to work. There is nixGL but it's not a great solution.