What makes docker on arm64 run armhf containers?

I’m trying to figure out how to run armhf containers via docker on an arm64 host.

I have a setup using Armbian 5.60 on an Odroid-C2 with kernel 3.16.57; the installed docker version is 18.06.0~ce~3-0~debian. This configuration is able to run a docker container with an armhf image (deCONZ in this case).

I would like to upgrade this Armbian installation to 5.76 which uses kernel 4.19.x. However, when I install docker for this setup, the armhf container fails with illegal instruction errors.

How can I configure docker on the newer Armbian setup to run armhf containers?

Both the 3.16 and the 4.19 kernels are compiled to execute arm32 instructions (CONFIG_COMPAT).

Any pointers in the right direction would be greatly appreciated.