Building kernel modules (on device?)

Has anyone succeeded in that? From a quick search there’s a dead thread about trying for xa2 and this thread/post: Kernel module support 4.4 - on the phone - #7 by Thaodan which, if I’m reading correctly means you have to use hadk and build it during og port with the whole android source tree, bit heavy for on device. Seeing how it could be useful for things like proper wireguard implementation, or supporting wifi dongles on devices that have buggy wlan support (tablet?), or just having a proper injection/promiscuous mode support I guess, getting proper kernel headers would be nice (does insmod even work or do we need android modules? Kernel config says module support Y, but no idea)