Easiest way to compile a C program to run under OpenWrt?

I'd like to customize https_dns_proxy and write some new utilities to run under OpenWrt. I'd rather not use anything interpreted. I'm most comfortable with C. I've got OpenWrt running on x86 (Proxmox VM) with lots of CPU/memory/disk. I could also use the Debian host or create another VM for development. Of course I've also got a desktop PC with Windows or Linux. I don't anticipate elaborate debugging as these will be CLI or network services. What's the best path forward?

https://openwrt.org/docs/guide-developer/helloworld/start

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