I've found "qemu" to be a godsend for systems work, though very slow compared to real metal, unless you're using virtualization extensions like KVM. I don't know how ARM "qemu" hosted on fast non-ARM hardware compares to native on typical ARM hardware, but I'm not too optimistic about that until someone has numbers.

For testing, I think you need not just the target processor but also various OS and chipset/firmware stuff. And you still need to test on the real target device at least some of the time, since there are probably quirks, from which the OS might not insulate you.

If you really want to use the Racket collections builds as part of the testing process of Racket, maybe do your frequent Racket builds on big ARM boards or using an emulator on huge hardware, and only occasionally check it against a day-long build running on the real target device.

--
http://www.neilvandyke.org/
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