You need to cross-compile still it’s just now you don’t have to checkout a different repo/branch but can do directly from the Zcash repo and master branch.
Alternatively I hosted the 2.0.5-2 binaries on Keybase if you just want to download them directly via wget/curl etc… https://keybase.pub/garethtdavies/zcash-armv8-2.0.5-2/