I checked out a few samples provided for the IoT Hub and the related RegistryManager.
There seems to be no SDK available for this job.
One other option could be the IoT Hub Rest API.
In https://learn.microsoft.com/en-gb/rest/api/iothub/service/configuration/applyonedgedevice it says "Applies the provided configuration content to the specified edge device". This seems to be able to post a deployment manifest.
It looks like you have to work with the "modulesContent" but there is no description of the actual object in the documentation.
But, you can check out this https://www.danielemaggio.eu/iot/iot-edge-rest-api/
Here, an example is shown in C#. This could be rewritten into Python or any other language is capable of making a Rest call.
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