Only Ubuntu hosts are directly supported by NVIDIA. I use Fedora (a close cousin of CentOS) and download non-rpm files from:
Linaro makes the official packages for Ubuntu’s cross tools. The tools work on other Linux x86_64 distributions, but packaging is not provided for all distributions. The ones you are interested in are marked as “aarch64-linux-gnu”. For a kernel build you do not need the “runtime”, nor the “sysroot”. For user space cross compile the Linaro runtime and sysroot are rather limited (I tend to use a clone of my Jetson to build against…I loopback mount it on the host…I see some people use NFS mounts to make the Jetson available).
I do see some cross tool chains directly made for CentOS, but I don’t know if these will have versions you are interested in (cross tools are quite limited in availability):