I dont know how it is for PD, but in general the approach is:
# clone the plugin builder repo
git clone https://github.com/moddevices/mod-plugin-builder/
cd mod-build-builder
# build dwarf toolchain
# remove "minimal" if you need 3rd party libs like libsndfile
./bootstrap.sh moddwarf minimal
# setup current shell for building using the dwarf toolchain
source local.env moddwarf
# now you can build your plugin projects within this shell
cd /path/to/my/plugin
cmake -S . -B build
make -C build
# or whatever applies to build the plugin
# deploy the lv2 bundle to a MOD unit over USB
cd /path/to/plugin/build
tar chz *.lv2 | base64 | curl -F 'package=@-' http://192.168.51.1/sdk/install; echo