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@JackTr Hi, I just made a new guide on Qt Wiki on how to cross-compile a Qt 6 application to Raspberry Pi from an Ubuntu/Debian-based Linux distro to Raspberry Pi OS. However, it was tested with Raspberry Pi 4 Model B and not Raspberry Pi Zero W, but I would love to hear any feedback and see if it works with other Raspberry Pi boards :)
https://wiki.qt.io/Cross-Compile_Qt_6_for_Raspberry_Pi
Hope it helps.