Just run this command, and you're set up. Make sure to install Docker, qemu-user-static and binfmt-support first.
docker run --rm --privileged harbor.nirvati.org/riscy-emulation/qemu-user-static --reset -p yes
That's it! You can now run Docker images for any architecture. Let's give it a try!
docker run --rm -t arm64v8/ubuntu uname -m # Expected output: aarch64