Specifically, I think the tip to make an exact copy of the target's sysroot structure (libraries, headers, etc) on your dev machine using rsync (and remember to

Specifically, I think the tip to make an exact copy of the target's sysroot structure (libraries, headers, etc) on your dev machine using rsync (and remember to fix the symbolic links!) is very valuable. Then make sure your project is (only) aware of those headers and libraries.