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I installed the official Ubuntu 18.04.4 LTS 64bit image on my Raspberry Pi 4. On Raspian Buster I used RealVNC server to connect remotely to Raspberry so I want to use the same with Ubuntu but on official RealVNC server page is available .deb package for armhf architecture; how can I user that .deb package on my arm64 system?

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ARM32 is optional on ARM64. You can enable it through:

dpkg --add-architecture armhf

Afterwards, you can install the .deb file. Be sure to run afterwards

sudo apt-get update; 
sudo apt-get upgrade; 
sudo apt --fix-broken install;

if needed. (Was the case for me)