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No, there is not. Please open a Github issue and explain the use-case a bit, so we understand why deploying by

helm

is not sufficient!

hmm ...

helm

is a good way – but not as close to the production environment I've to work with ... but I don't think that's “not sufficient” enough for a new feature =D

Ok, so here is the "unapproved" way how you can do it anyways (I think, not tested if the manifest gets deployed). Start Rancher Desktop normally and run

rdctl shell sudo mkdir -p /var/lib/rancher/k3s/agent/pod-manifests
cat pod.yaml | rdctl shell sudo tee /var/lib/rancher/k3s/agent/pod-manifests/pod.yaml >/dev/null