diff --git a/README.md b/README.md
index 292a7ac..d8dc791 100644
--- a/README.md
+++ b/README.md
@@ -32,4 +32,7 @@ git clone --recursive https://github.com/extra2000/yocto-ros2-minimal.git
     * [Raspberry Pi 4 B](docs/yocto/specifics/rpi4b.md)
 * Pine64:
     * [Rock64](docs/yocto/specifics/rock64.md)
+* QEMU:
+    * [ARM 32-bit](docs/yocto/specifics/qemuarm.md)
+    * [ARM 64-bit](docs/yocto/specifics/qemuarm64.md)
 * All Yocto targets: [Yocto Building for All Targets](docs/yocto/all-targets.md)
diff --git a/docs/yocto/all-targets.md b/docs/yocto/all-targets.md
index 230fe9c..d231339 100644
--- a/docs/yocto/all-targets.md
+++ b/docs/yocto/all-targets.md
@@ -35,21 +35,6 @@ bitbake mc:*:ros2-image -c populate_sdk
 ```
 
 
-## Testing with QEMU
-
-To start QEMU with SELinux enforcing, use the following `runqemu` command:
-```
-runqemu qemuarm slirp nographic qemuparams="-m 512 -net nic,netdev=eth0 -netdev user,id=eth0,hostfwd=tcp:127.0.0.1:1534-:1534 -net nic"
-```
-
-To start QEMU with SELinux permissive, use the following `runqemu` command:
-```
-runqemu qemuarm slirp nographic qemuparams="-m 512 -net nic,netdev=eth0 -netdev user,id=eth0,hostfwd=tcp:127.0.0.1:1534-:1534 -net nic" bootparams="selinux=1 enforcing=0"
-```
-
-Login as `yocto` user with password `yocto`. Then follow testing instructions in [Testing](common/testing.md).
-
-
 ## Flashing to SD Card
 
 Image files and instructions how to flash to SD card are as follows:
diff --git a/docs/yocto/specifics/qemuarm.md b/docs/yocto/specifics/qemuarm.md
new file mode 100644
index 0000000..851fec3
--- /dev/null
+++ b/docs/yocto/specifics/qemuarm.md
@@ -0,0 +1,55 @@
+# QEMU ARM 32-bit
+
+
+## Building
+
+Create container:
+```
+podman run -it --rm \
+    --network=host \
+    --userns="keep-id:uid=1000,gid=1000" \
+    -v ${PWD}/project:${PWD}/project:rw \
+    --workdir ${PWD}/project/yocto \
+    --security-opt label=disable \
+    localhost/extra2000/yocto-toolkit:latest \
+    bash
+source layers/poky/oe-init-build-env build
+```
+
+Check dependencies:
+```
+bitbake -p mc:qemuarm:ros2-image
+```
+
+Build:
+```
+bitbake mc:qemuarm:ros2-image
+```
+
+
+## Testing
+
+The following `runqemu` commands should be executed using `yocto-toolkit` Podman container.
+
+To start QEMU with SELinux enforcing, use the following `runqemu` command:
+```
+runqemu \
+    qemuarm \
+    slirp \
+    nographic \
+    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345"
+```
+
+To start QEMU with SELinux permissive, use the following `runqemu` command:
+```
+runqemu \
+    qemuarm \
+    slirp \
+    nographic \
+    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
+    bootparams="selinux=1 enforcing=0"
+```
+
+**NOTE: If the port forwarding doesn't work, try shutdown QEMU, respawn the `yocto-toolkit` Podman container, and re-execute the same `runqemu` command again.**
+
+Login as `yocto` user with password `yocto`. Then follow testing instructions in [Testing](../common/testing.md).
diff --git a/docs/yocto/specifics/qemuarm64.md b/docs/yocto/specifics/qemuarm64.md
new file mode 100644
index 0000000..55fefbb
--- /dev/null
+++ b/docs/yocto/specifics/qemuarm64.md
@@ -0,0 +1,55 @@
+# QEMU ARM 64-bit
+
+
+## Building
+
+Create container:
+```
+podman run -it --rm \
+    --network=host \
+    --userns="keep-id:uid=1000,gid=1000" \
+    -v ${PWD}/project:${PWD}/project:rw \
+    --workdir ${PWD}/project/yocto \
+    --security-opt label=disable \
+    localhost/extra2000/yocto-toolkit:latest \
+    bash
+source layers/poky/oe-init-build-env build
+```
+
+Check dependencies:
+```
+bitbake -p mc:qemuarm64:ros2-image
+```
+
+Build:
+```
+bitbake mc:qemuarm64:ros2-image
+```
+
+
+## Testing
+
+The following `runqemu` commands should be executed using `yocto-toolkit` Podman container.
+
+To start QEMU with SELinux enforcing, use the following `runqemu` command:
+```
+runqemu \
+    qemuarm64 \
+    slirp \
+    nographic \
+    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345"
+```
+
+To start QEMU with SELinux permissive, use the following `runqemu` command:
+```
+runqemu \
+    qemuarm64 \
+    slirp \
+    nographic \
+    qemuparams="-m 512 -net nic -net user,hostfwd=tcp:127.0.0.1:1534-:1534,hostfwd=tcp:127.0.0.1:22222-:22,hostfwd=tcp:127.0.0.1:2345-:2345" \
+    bootparams="selinux=1 enforcing=0"
+```
+
+**NOTE: If the port forwarding doesn't work, try shutdown QEMU, respawn the `yocto-toolkit` Podman container, and re-execute the same `runqemu` command again.**
+
+Login as `yocto` user with password `yocto`. Then follow testing instructions in [Testing](../common/testing.md).