Cross Compiling Samples for Drive OS Linux

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
I am referring DriveWorks SDK Reference: Getting Started Using the NVIDIA DRIVE OS NGC Docker Container " Samples Cross-Compilation From Source " topic, and according to the steps given in the documentation, I find that for qnx compilation only steps are given, reference Toolchain-V5Q.cmake , so could you please help me with steps for Cross Compilation for Drive OS Linux

Dear @arpit.agarkar ,
Please see Setting up Driveworks 5.14 on the Drive Orin - #5 by SivaRamaKrishnaNV for DW sample cross compilation on docker.