Hello Adrian,
There are a couple of alternatives. The easies would be mounting the rootfs trough NFS, that way you can run your local project and new files are accessible on the board as soon as it’s created.
Another option is compiling on the actual device. It is not always possible especially if resources are limited but sometimes it’s easier than moving the compiled files to the target.
I hope this helps! Maybe some other Community users have additional suggestions!
Regards,