These steps can be performed on, for example, an Ubuntu VM. The depends system will also work on other Linux distributions, however the commands for installing the toolchain will be different.
Make sure you install the build requirements mentioned above. Then, install the toolchain and curl:
sudo apt-get install g++-arm-linux-gnueabihf curl
To build executables for ARM:
cd depends make HOST=arm-linux-gnueabihf NO_QT=1 cd .. ./autogen.sh CONFIG_SITE=$PWD/depends/arm-linux-gnueabihf/share/config.site ./configure --enable-glibc-back-compat --enable-reduce-exports LDFLAGS=-static-libstdc++ make
For further documentation on the depends system see README.md in the depends directory.