Install from Debian packages hosted on packages.microsoft.com

Raspberry Pi 3

Ubuntu server 20.04 (64-bit)

From RPi Imager, choose Other general-purpose OS -> Ubuntu Server 20.04.5 LTS (64-bit)
setup packages.microsoft.com apt.d repository.
sudo apt install deviceupdate-agent

Debian 10 armhf on rpi3

From RPi Imager, choose Raspberry Pi OS" - > Raspberry Pi OS Lite (Legacy)
Follow step 1 of add apt.d for packages.microsoft.com for Debian 10 buster.
Step 2 fails with "could not find a distribution template for Raspbian/buster". Instead do:

echo "deb https://packages.microsoft.com/debian/10/prod buster main" > /etc/apt/sources.list.d/microsoft-prod.list
sudo apt update
sudo apt install deviceupdate-agent

Raspberry Pi 4

Ubuntu 20.04 aarch64

From RPi Imager, choose Other general-purpose OS -> Ubuntu Server 20.04.5 LTS (64-bit)
setup packages.microsoft.com apt.d repository.
sudo apt install deviceupdate-agent