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.