I put together a few pieces, and just wanted to share the step-by-steps, so people had them.
This is specific to the i.mx6 models, basically PW2 and up.
I'll be replying with individual posts, that have 3 different methods.
For all the instructions, if not specified, just run everything as root 100% a lot of tools didnt work without being run as root.
Well, since neither of #2 or #3 have the tools needed to install more tools, tha't probably as far as my instructions will get this week.
If anyone want to help me fill out the rest of the steps, that would be good, but for now, I think Method #1 will be my gold standard - and I should be able to chroot into that, instead of the other two filesystems, to make the emulator on emulator pain easier.
Method #1 ends with me chrooting into an image, instead of using qemu to run it fully seperate.
Here is a page that covers topics related to that, including making the disk image without running the installer in qeume like I did.
https://wiki.debian.org/EmDebian/CrossDebootstrap
UPDATE 2017-07-07
"Method #2 - using the how to inside 5.8.1 source" is the method I am actually using for the kernel modules and executabled. the 5.8.9 source has a whole new method that I am going to investigate, and replace my method #3 with.
To test the programs on my PC, I can compile with regular GCC to test it, and then compile with cross-compiler to put it on the kindle.