python – How to automate building program for ARM CPU on x86_64 host?

I have problem with building one program binary files for armhf and arm64 CPU.
Program uses pyinstaller to build executable file. Curently I need to manually copy source code to ARM based device to build it, cause pyinstaller will only build binary file that will only work on CPU based on Host’s CPU example: Build on arm64 you will get arm64 binary (no cross compilation supported).
And here is my question is there a way to create ARM/ARM64 containers so it will compile program for me and push builded binary files to GitHub? 2 containers one for 32 bit ARM and one for ARM64.