1. First,we need to download the deb file from website :TeamViewer Linux Download for Remote Desktop access and collaboration

2.

sudo  dpkg --add-architecture armhf
sudo  apt update
sudo  apt-get install libxtst6:armhf
sudo  dpkg -i teamviewer-host_armhf.deb
sudo  apt install -f
sudo  teamviewer --daemon enable

This method may have mistake when installing , you need to follow the instruction in terminal.