Installation

sudo pacman -S qemu-system-arm
sudo pacman -S qemu-user-static

Running

qemu-aarch64 -L /usr/aarch64-linux-gnu/ ./file_to_emulate

Running on Port, then connecting with GDB

qemu-aarch64 -L -g 31338 /usr/aarch64-linux-gnu/ ./file_to_emulate

In gdb:

target remote localhost:31338