to build run

RUSTFLAGS="-Zlocation-detail=none" cargo +nightly build -Z build-std=std,panic_abort --target aarch64-unknown-linux-gnu --release

if you do not have the right glibc version you can install zig and cargo-zigbuild and then run

RUSTFLAGS="-Zlocation-detail=none -C target-cpu=cortex-a53" cargo +nightly zigbuild -Z build-std=std,panic_abort --target aarch64-unknown-linux-gnu.2.31 --release

replace .2.31 with the version you require, 2.31 is the version for debian 11 bullseye
You can also build a debug version which gives extra feedback about errors during firmware upload, for example if uploads keep failing, simply leave away the --release when building and then

upx --best --lzma target/aarch64-unknown-linux-gnu/release/go-modules

to compress it for optimal size, the debug builds take quite a while to compress

package it as .deb:

cargo deb --no-build --target aarch64-unknown-linux-gnu --no-strip

sign the package:

dpkg-sig --sign builder target/aarch64-unknown-linux-gnu/debian/go-modules_*_arm64.deb