I finally bit the bullet on the raspi-gpio utility, so I took the source, built it on a armhf device, packaged the binary inside a snap. Should also work on arm64?
It is up on the Snap store as “raspi-gpio-snap” on the beta channel(s).
Please feel free to review the snapcraft stuffs here, and make pull requests (if any, to make it better).
I used this source to compile the binary: https://github.com/RPi-Distro/raspi-gpio