Create Ubuntu ARM64 virtual machine on x86-64 machine

Download Ubuntu ARM64 install image from https://cdimage.ubuntu.com/ubuntu/releases/.

Install virt-manager and QEMU system for arm:

sudo apt install virt-manager qemu-efi-aarch64 qemu-system-arm

(Optional) Allow to run with non-root user:

sudo usermod -a -G libvirt $USER
# Then logout and login again

Open "Virtual Machine Manager" and create a new virtual machine with "Architecture" is "aarch64", and use the downloaded ARM64 iso for booting.

Go to "View" > "Detail", then in "Overview", select "XML" tab. Looking for <gic version="2"/> and change the version to "3".

Booting the virtual machine to start installation.
If nothing is displayed after select "Try of Install ...", go to "View" > "Consoles" > "Serial 1".

From now on, install Ubuntu as normal.