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> Fair warning: compiling a kernel on the Pi itself takes several hours.

One nit: this should only take about 40 minutes on a Pi 5, assuming you're compiling with -j6 to use all the cores.

(Still faster to cross-compile)

That is kind of what I was thinking too, and cross-compilation is still the fastest way to build for a different target.
Using distcc networked compilation instead of cross-compiling is reasonably fast too and easier to set up if one isn't familiar with either.
loading story #47364517
well, the tricky detail here (which we do not mention in the post, our bad) is that we got the raspbian config (cp /boot/config ... .config && make oldconfig) which includes most modules, and that's why it took more.

But yeap, good point about using the -j flag, it really accelerates the build!