hello forever3000,
besides cloning,
how about creating a custom rootfs on your host device, you’re able to install required packages into root file system.
here’s my steps to make it works,
sudo apt-get install qemu
sudo apt-get install qemu-user-static
sudo tar xvpf <rootfs>.tar.gz
sudo cp /usr/bin/qemu-aarch64-static <rootfs>/usr/bin/
sudo mount /sys ./sys -o bind
sudo mount /proc ./proc -o bind
sudo mount /dev ./dev -o bind
sudo LC_ALL=C chroot . /bin/bash
sudo apt-get update
sudo apt-get install <PKG_NAME>
exit
sudo tar -jcpf customize_rootfs.tbz2 *
you may also refer to https://elinux.org/Jetson/TX1_Sample_Root_Filesystem for steps.
thanks