You can force a version:

apt-get install gcc-arm-linux-gnueabihf=4:9.3.0-1ubuntu2

From man apt-get: install pkg [{=pkg_version_number | /target_release}]...

As pointed-out by old_timer, you could download/use a pre-built toolchain. You could for example use the arm-linux-gnueabihf-gcc provided in release 15.02 of the Linaro toolchains - tested on Ubuntu 22.04 and 24.04:

Downloading/installing:

wget https://releases.linaro.org/archive/15.02/components/toolchain/binaries/arm-linux-gnueabihf/gcc-linaro-4.9-2015.02-3-x86_64_arm-linux-gnueabihf.tar.xz
tar Jxf gcc-linaro-4.9-2015.02-3-x86_64_arm-linux-gnueabihf.tar.xz
PATH=$(pwd)/gcc-linaro-4.9-2015.02-3-x86_64_arm-linux-gnueabihf/bin

Verifying gcc version:

arm-linux-gnueabihf-gcc --version
arm-linux-gnueabihf-gcc (Linaro GCC 4.9-2015.01-3) 4.9.3 20150113 (prerelease)
Copyright (C) 2014 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Unexpectedly, I found a solution:

Add 13.10's apt source into /etc/apt/sources.list

deb http://cz.archive.ubuntu.com/ubuntu raring main universe

Then you can install it with

sudo apt-get install gcc-4.7-arm-linux-gnueabihf

The cross compilers that you are unable to locate yet can be located in Ubuntu 22.04 by running the following apt command to search for the relevant packages:

apt search gnueabihf

On Ubuntu 22.04 this command returns matches for gcc-11-arm-linux-gnueabihf, gcc-12-arm-linux-gnueabihf, binutils-arm-linux-gnueabihf-dbg and many other packages depending on what programming language source code files you are trying to cross compile. Packages exist for GNU C, GNU C++, GNU Objective-C, GNU Go, GNU Rust, GNU D, GNU Ada and GNU Fortran compilers.