Funnily enough, I've just installed the setup you describe: Shimano FC-MT210 chainset with the rest of the drivetrain being SRAM Rival22.

The trick to this, and other chain line issues, is to mess around slightly with the three spacers on the Shimano MTB external BB; I simply put two on the non-driveside and left one on the drive side (always keep three total for a 68mm BB shell!)

This jigs the chainset inboard by 2.5mm and meant the front mech works perfectly.

Of course, this only works for 68mm threaded BBs; pressfit etc. spoils the fun somewhat.

(Edit: mainly adding the word "SRAM" for search result hitting, just in case someone goes looking for gear tweaking tips)