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[Linux] Two dockerd daemons with different "platforms" on the same linux? A guide wanted

Does anybody know how to run two dockerd daemons, for example linux/arm and linux/arm64, platforms on the same linux system?

Recently even Raspbian introduced the ability to run two different architectures simultaneously. Regarding Raspbian they are linux/arm/v7 and linux/arm64. Intel based systems probably can also run both amd64 and 386 dockerd daemons.

it would be great to have a guide or a link to a guide how to run two dockerd plus probably containerd daemons on the same system simultaneously.

In short the expected result is:

$ docker -H unix:///var/run/docker-**arm64**.sock version
Server: Docker Engine - Community
 Engine:
  Version:          19.03.7
  API version:      1.40 (minimum version 1.12)
  Go version:       go1.12.17
  Git commit:       7141c19
  Built:            Wed Mar  4 01:21:49 2020
  OS/Arch:          **linux/arm64**
  Experimental:     true
 containerd:
  Version:          1.2.13
  GitCommit:        7ad184331fa3e55e52b890ea95e65ba581ae3429
 runc:
  Version:          1.0.0-rc10
  GitCommit:        dc9208a3303feef5b3839f4323d9beb36df0a9dd
 docker-init:
  Version:          0.18.0
  GitCommit:        fec3683

$ docker -H unix:///var/run/docker-**arm32**.sock version
Server: Docker Engine - Community
 Engine:
  Version:          19.03.6
  API version:      1.40 (minimum version 1.12)
  Go version:       go1.12.16
  Git commit:       369ce74
  Built:            Thu Feb 13 01:31:06 2020
  OS/Arch:          **linux/arm**
  Experimental:     true
 containerd:
  Version:          1.2.10
  GitCommit:        b34a5c8af56e510852c35414db4c1f4fa6172339
 runc:
  Version:          1.0.0-rc8+dev
  GitCommit:        3e425f80a8c931f88e6d94a8c831b9d5aa481657
 docker-init:
  Version:          0.18.0
  GitCommit:        fec3683
'''

Thanks in advance