thank you so much for setting up this example project! I tried compiling it the same way as I was mine, and got the same errors. At least this made me realize there was probably nothing wrong with my code, so I did a bit of digging around and found this discussion: How to cross compile with cmake + arm-none-eabi on windows? - Stack Overflow
I added set(CMAKE_EXE_LINKER_FLAGS "--specs=nosys.specs" CACHE INTERNAL "") to arm.cmake, and that did the job, compiling your project to run on the hardware!
I think this should solve my problem, thanks for the input everyone!