Cross developing / debbugging to Jetson Xavier

Developing on the Xavier has become unmanageable. I need to move to cross-compile from a UBUNTU 18.04 workstation, but haven’t been able to find any recent reference or guide!!

This link I found on other posts requires a special account NVIDIA DRIVE™ Developer Program for DRIVE PX 2 that I don’t fulfill its requirements…

This other link on another post is from 2017 and grossly outdated and although I tried to follow, could not get it to work

Is there a guide for cross compiling and debugging to the Xavier for current versions of CUDA and L4T and Nsight Eclipse?

Many thanks!