I mainly use Python, so my workflow is the same on every OS:
Neovim and a shell, usually one of each in a vertical split. This transfers nicely to remote SSH sessions too, and even works in Termux on my phone!
Have you investigated whether it's possible to test your cross-compiled builds in Qemu, rather than copying them to the host?
It's possible to use QEMU, but since my primary goal is to use the hardware (GPIO, ADCs, SPI, etc.), it isn't as useful for me in that case since I want to physically interact with the board. There is certainly a point where I will use QEMU more, but for the moment, it's not practical.